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The MADMAX data set for visual‐inertial rover navigation on Mars

Meyer, Lukas and Smisek, Michal and Fontan Villacampa, Alejandro and Oliva Maza, Laura and Medina, Daniel and Schuster, Martin and Steidle, Florian and Vayugundla, Mallikarjuna and Müller, Marcus Gerhard and Rebele, Bernhard and Wedler, Armin and Triebel, Rudolph (2021) The MADMAX data set for visual‐inertial rover navigation on Mars. Journal of Field Robotics. Wiley. doi: 10.1002/rob.22016. ISSN 1556-4959.

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Abstract

Planetary rovers increasingly rely on vision-based components for autonomous navigation and mapping. Developing and testing these components requires representative optical conditions, which can be achieved by either field testing at planetary analog sites on Earth or using prerecorded data sets from such locations. However, the availability of representative data is scarce and field testing in planetary analog sites requires a substantial financial investment and logistical overhead, and it entails the risk of damaging complex robotic systems. To address these issues, we use our compact human-portable DLR Sensor Unit for Planetary Exploration Rovers (SUPER) in the Moroccan desert to show resource-efficient field testing and make the resulting Morocco-Acquired data set of Mars-Analog eXploration (MADMAX) publicly accessible. The data set consists of 36 different navigation experiments, captured at eight Mars analog sites of widely varying environmental conditions. Its longest trajectory covers 1.5 km and the combined trajectory length is 9.2 km. The data set contains time-stamped recordings from monochrome stereo cameras, a color camera, omnidirectional cameras in stereo configuration, and from an inertial measurement unit. Additionally, we provide the ground truth in position and orientation together with the associated uncertainties, obtained by a real-time kinematic-based algorithm that fuses the global navigation satellite system data of two body antennas. Finally, we run two state-of-the-art navigation algorithms, ORB-SLAM2 and VINS-mono, on our data to evaluate their accuracy and to provide a baseline, which can be used as a performance reference of accuracy and robustness for other navigation algorithms. The data set can be accessed at https://rmc.dlr.de/morocco2018.

Item URL in elib:https://elib.dlr.de/141662/
Document Type:Article
Title:The MADMAX data set for visual‐inertial rover navigation on Mars
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Meyer, LukasLukas.Meyer (at) dlr.dehttps://orcid.org/0000-0001-9514-8494
Smisek, MichalMichal.Smisek (at) dlr.dehttps://orcid.org/0000-0002-0061-1691
Fontan Villacampa, AlejandroAlejandro.FontanVillacampa (at) dlr.deUNSPECIFIED
Oliva Maza, Lauralaura.olivamaza (at) dlr.deUNSPECIFIED
Medina, DanielDaniel.AriasMedina (at) dlr.dehttps://orcid.org/0000-0002-1586-3269
Schuster, MartinMartin.Schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719
Steidle, FlorianFlorian.Steidle (at) dlr.deUNSPECIFIED
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.dehttps://orcid.org/0000-0002-9277-0461
Müller, Marcus GerhardMarcus.Mueller (at) dlr.deUNSPECIFIED
Rebele, BernhardBernhard.Rebele (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.dehttps://orcid.org/0000-0001-8641-0163
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:19 March 2021
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1002/rob.22016
Publisher:Wiley
ISSN:1556-4959
Status:Published
Keywords:planetary exploration, rovers, navigation, field-test, data set, visual-inertial navigation, SLAM
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Project MOREX [RO]
Location: Neustrelitz , Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Communication and Navigation > Nautical Systems
Deposited By: Meyer, Lukas
Deposited On:28 Apr 2021 14:53
Last Modified:11 Oct 2021 10:21

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