Cameras for navigation and 3D modelling on planetary exploration missions

摘要

Mobile exploration systems on planetary missions require technologies for navigation and 3D modelling. Both are mandatory prerequisites for any interaction in an unknown environment. Since GNSS will not be available, technical alternatives have to be developed. In this paper, a sensor system will be introduced which contains a stereo camera and an inertial measurement unit. Data of both sensors are fused to achieve a precise 6DoF ego-pose in real-time. Image data can be processed to depth maps optionally. Trajectories and 3D models are essential for path planning of the robots, for identification of scientific regions of interest and for spatial referencing of the scientific payload data. The paper gives an overview about the technology, the approaches for navigation and 3D modelling, an end-to-end software simulator and a planet like test campaign.