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Paper Abstract and Keywords
Presentation 2014-05-23 16:40
A Localization Method for Planetary Exploration Rovers using Cameras and Direction Sensors
Kyohei Otsu (Univ. of Tokyo), Masatsugu Otsuki, Takashi Kubota (JAXA) SANE2014-11
Abstract (in Japanese) (See Japanese page) 
(in English) Robotic surface exploration is a key strategy for future lunar or planetary missions. The ability of localization is important for exploration rovers since it will enhance safe and efficient mission operations. The conventional dead-reckoning methods that rely on wheel encoders and inertial measurements are prone to error in uneven terrain of planetary surfaces. This paper proposes an integrated localization system using vision sensors and absolute direction sensors.
The performance of the proposed localization system was studied through the field experiments on a four-wheeled test-bed rover operated in a terrestrial analogue.
Keyword (in Japanese) (See Japanese page) 
(in English) Planetary Exploration Rover / Localization / Visual Odometry / Direction Sensor / / / /  
Reference Info. IEICE Tech. Rep., vol. 114, no. 48, SANE2014-11, pp. 7-12, May 2014.
Paper # SANE2014-11 
Date of Issue 2014-05-16 (SANE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF SANE2014-11

Conference Information
Committee SANE  
Conference Date 2014-05-23 - 2014-05-23 
Place (in Japanese) (See Japanese page) 
Place (in English) JAXA Sagamihara Campus 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Mission for Space Science, Satellite technology and General issue 
Paper Information
Registration To SANE 
Conference Code 2014-05-SANE 
Language English (Japanese title is available) 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A Localization Method for Planetary Exploration Rovers using Cameras and Direction Sensors 
Sub Title (in English)  
Keyword(1) Planetary Exploration Rover  
Keyword(2) Localization  
Keyword(3) Visual Odometry  
Keyword(4) Direction Sensor  
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1st Author's Name Kyohei Otsu  
1st Author's Affiliation The University of Tokyo (Univ. of Tokyo)
2nd Author's Name Masatsugu Otsuki  
2nd Author's Affiliation Japan Aerospace Exploration Agency (JAXA)
3rd Author's Name Takashi Kubota  
3rd Author's Affiliation Japan Aerospace Exploration Agency (JAXA)
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Speaker Author-1 
Date Time 2014-05-23 16:40:00 
Presentation Time 25 minutes 
Registration for SANE 
Paper # SANE2014-11 
Volume (vol) vol.114 
Number (no) no.48 
Page pp.7-12 
#Pages 6 
Date of Issue 2014-05-16 (SANE) 

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