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GPGM-SLAM: Towards a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps

Giubilato, Riccardo and Le Gentil, Cedric and Vayugundla, Mallikarjuna and Vidal-Calleja, Teresa and Triebel, Rudolph (2020) GPGM-SLAM: Towards a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps. Workshop on Planetary Exploration Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas (Virtual).

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Abstract

Simultaneous Localization and Mapping (SLAM) in unstructured planetary environments is a challenging task for mobile robots due to the appearance and structure of the environment. In urban and man-made scenarios, individual objects (e.g. cars, trees or buildings) are easily discernible and the visual appearance is likely to provide unique cues for the purpose of localization. Contrarily, planetary scenarios are often characterized by repetitive structures and ambiguous terrain features. To provide robust place recognition abilities in the context of submap-based stereo visual SLAM, we propose to utilize the gradient of elevation maps generated by Gaussian Processes (GPs). Visual features computed on GP Gradient Maps (GPGMaps) provide means for efficient place recognition, through encoding in Bag-of-Words vectors, and for SE(2) alignment to establish loop closure constraints in a pose graph. We evaluate the proposed SLAM system on relevant Moon-like environments through real data captured on Mt. Etna, Sicily.

Item URL in elib:https://elib.dlr.de/137066/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:GPGM-SLAM: Towards a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Giubilato, RiccardoRiccardo.Giubilato (at) dlr.dehttps://orcid.org/0000-0002-3161-3171
Le Gentil, Cedriccedric.legentil (at) student.uts.edu.auUNSPECIFIED
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.dehttps://orcid.org/0000-0002-9277-0461
Vidal-Calleja, Teresateresa.vidalcalleja (at) uts.edu.auUNSPECIFIED
Triebel, Rudolphrudolph.triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:October 2020
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:SLAM, Visual, Mapping, Gaussian Process, Field Robotics
Event Title:Workshop on Planetary Exploration Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Las Vegas (Virtual)
Event Type:international Conference
Event Dates:Oct 2020
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:04 Nov 2020 18:16
Last Modified:04 Nov 2020 18:16

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