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Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras

Giubilato, Riccardo and Vayugundla, Mallikarjuna and Schuster, Martin and Stürzl, Wolfgang and Wedler, Armin and Triebel, Rudolph and Debei, Stefano (2020) Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras. IEEE Robotics and Automation Letters, 5 (2), pp. 580-587. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2964157. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)


To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art solutions, place recognition in natural environments still poses great challenges for the perception system of a robotic agent. In this paper we propose a relocalization pipeline which exploits both 3D and visual information from stereo cameras to detect matches across local point clouds of multiple SLAM sessions. Our solution is based on a Bag of Binary Words scheme where binarized SHOT descriptors are enriched with visual cues to recall in a fast and efficient way previously visited places. The proposed relocalization scheme is validated on challenging datasets captured using a planetary rover prototype on Mount Etna, designated as a Moon analogue environment.

Item URL in elib:https://elib.dlr.de/133896/
Document Type:Article
Title:Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Giubilato, RiccardoRiccardo.Giubilato (at) dlr.deUNSPECIFIED
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.deUNSPECIFIED
Schuster, MartinMartin.Schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.deUNSPECIFIED
Debei, Stefanostefano.debei (at) unipd.itUNSPECIFIED
Date:April 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2020.2964157
Page Range:pp. 580-587
EditorsEmailEditor's ORCID iD
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Localization;space robotics and automation;mapping
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Robotic Science Explorer
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Giubilato, Riccardo
Deposited On:10 Feb 2020 15:52
Last Modified:10 Feb 2020 15:52

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