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Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps

Giubilato, Riccardo and Vayugundla, Mallikarjuna and Stürzl, Wolfgang and Schuster, Martin and Wedler, Armin and Triebel, Rudolph (2021) Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 27 Sept - 01 Oct 2021, Prague, Czech Republic. ISBN 978-166541714-3. ISSN 2153-0858.

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Abstract

Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage the ability of stereo cameras to provide both visual and depth information, guiding the search and validation of loop closures from a multi-modal perspective. We propose to augment submaps that are created by aggregating stereo point clouds, with visual keyframes. Point clouds matches are found by comparing CSHOT descriptors and validated by clustering, while visual matches are established by comparing keyframes using Bag-of-Words (BoW) and ORB descriptors. The relative transformations resulting from both keyframe and point cloud matches are then fused to provide pose constraints between submaps in our graph-based SLAM framework. Using the LRU rover, we performed several tests in both an indoor laboratory environment as well as a challenging planetary analog environment on Mount Etna, Italy, consisting of areas where either keyframes or point clouds alone failed to provide adequate matches demonstrating the benefit of the proposed multi-modal approach.

Item URL in elib:https://elib.dlr.de/143410/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Giubilato, RiccardoRiccardo.Giubilato (at) dlr.dehttps://orcid.org/0000-0002-3161-3171
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.dehttps://orcid.org/0000-0002-9277-0461
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.dehttps://orcid.org/0000-0003-2440-5857
Schuster, MartinMartin.Schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719
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:October 2021
Journal or Publication Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
ISSN:2153-0858
ISBN:978-166541714-3
Status:Published
Keywords:Localization, Space Robotics and Automation, Multi-modal Perception
Event Title:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Prague, Czech Republic
Event Type:international Conference
Event Dates:27 Sept - 01 Oct 2021
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 - E3D: Algorithms and Application (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Giubilato, Riccardo
Deposited On:22 Nov 2021 17:44
Last Modified:25 Mar 2022 10:01

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