TY - GEN
T1 - A Novel Particle Filter Based SLAM Algorithm for Lunar Navigation and Exploration
AU - Win, Nu Nu
AU - Kida, Kazuki
AU - Ko, Matsuhiro
AU - Jiei, Suzuki
AU - Cosentino, Sarah
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper presents a simultaneous localization and mapping (SLAM) system for lunar exploration. The proposed SLAM algorithm presents a significantly lower computational complexity compared to the state-of-the-art solutions, due the use of a Rao-Blackwellised particle filter with adaptive and compound resampling. The proposed SLAM sensor system consists of one light detecting and ranging sensor (LIDAR) and one IMU, to minimize illumination-dependent errors; as the lunar environment, and in particular the target exploration region around the Marius Hills hole, presents very variable illumination conditions. The system was tested via simulation, using existing environmental data from the mare tranquillitatis pit crater.
AB - This paper presents a simultaneous localization and mapping (SLAM) system for lunar exploration. The proposed SLAM algorithm presents a significantly lower computational complexity compared to the state-of-the-art solutions, due the use of a Rao-Blackwellised particle filter with adaptive and compound resampling. The proposed SLAM sensor system consists of one light detecting and ranging sensor (LIDAR) and one IMU, to minimize illumination-dependent errors; as the lunar environment, and in particular the target exploration region around the Marius Hills hole, presents very variable illumination conditions. The system was tested via simulation, using existing environmental data from the mare tranquillitatis pit crater.
KW - SLAM
KW - lunar exploration
KW - particle filter
KW - resampling
KW - rover
UR - http://www.scopus.com/inward/record.url?scp=85083219056&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85083219056&partnerID=8YFLogxK
U2 - 10.1109/ICRAE48301.2019.9043804
DO - 10.1109/ICRAE48301.2019.9043804
M3 - Conference contribution
AN - SCOPUS:85083219056
T3 - 2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
SP - 74
EP - 78
BT - 2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
Y2 - 22 November 2019 through 24 November 2019
ER -