FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4226471625> ?p ?o ?g. }

• W4226471625 abstract "Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a &#x201C;ground-in-the-loop&#x201D; (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover&#x0027;s current position. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into hazards known from orbital images. In practice, this limits drives to a few hundred meters between GITL cycles. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, but a satisfactory solution has not yet emerged. For the Moon, the ubiquitous craters offer a new possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and/or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 5 to 10 m accuracy at all times. This paper describes our technical approach to crater-based lunar rover localization and presents initial results on crater detection using 3-D point cloud data from onboard lidar or stereo cameras, as well as using shading cues in monocular onboard imagery." @default.
• W4226471625 created "2022-05-05" @default.
• W4226471625 creator A5026096129 @default.
• W4226471625 creator A5026821353 @default.
• W4226471625 creator A5031847628 @default.
• W4226471625 creator A5036099508 @default.
• W4226471625 creator A5046356541 @default.
• W4226471625 creator A5053943614 @default.
• W4226471625 creator A5064186453 @default.
• W4226471625 creator A5078247828 @default.
• W4226471625 date "2022-03-05" @default.
• W4226471625 modified "2023-09-30" @default.
• W4226471625 title "Lunar Rover Localization Using Craters as Landmarks" @default.
• W4226471625 cites W1507009174 @default.
• W4226471625 cites W1508648480 @default.
• W4226471625 cites W1836839941 @default.
• W4226471625 cites W1861492603 @default.
• W4226471625 cites W1941927205 @default.
• W4226471625 cites W1967395664 @default.
• W4226471625 cites W1977079104 @default.
• W4226471625 cites W2038730286 @default.
• W4226471625 cites W2078222544 @default.
• W4226471625 cites W2117586409 @default.
• W4226471625 cites W2743121999 @default.
• W4226471625 cites W2884367402 @default.
• W4226471625 cites W2997684876 @default.
• W4226471625 cites W3016943404 @default.
• W4226471625 cites W3048543444 @default.
• W4226471625 cites W3080523071 @default.
• W4226471625 doi "https://doi.org/10.1109/aero53065.2022.9843714" @default.
• W4226471625 hasPublicationYear "2022" @default.
• W4226471625 type Work @default.
• W4226471625 citedByCount "3" @default.
• W4226471625 countsByYear W42264716252023 @default.
• W4226471625 crossrefType "proceedings-article" @default.
• W4226471625 hasAuthorship W4226471625A5026096129 @default.
• W4226471625 hasAuthorship W4226471625A5026821353 @default.
• W4226471625 hasAuthorship W4226471625A5031847628 @default.
• W4226471625 hasAuthorship W4226471625A5036099508 @default.
• W4226471625 hasAuthorship W4226471625A5046356541 @default.
• W4226471625 hasAuthorship W4226471625A5053943614 @default.
• W4226471625 hasAuthorship W4226471625A5064186453 @default.
• W4226471625 hasAuthorship W4226471625A5078247828 @default.
• W4226471625 hasBestOaLocation W42264716252 @default.
• W4226471625 hasConcept C10138342 @default.
• W4226471625 hasConcept C126042441 @default.
• W4226471625 hasConcept C127313418 @default.
• W4226471625 hasConcept C13280743 @default.
• W4226471625 hasConcept C154945302 @default.
• W4226471625 hasConcept C162324750 @default.
• W4226471625 hasConcept C172849965 @default.
• W4226471625 hasConcept C176809094 @default.
• W4226471625 hasConcept C198082294 @default.
• W4226471625 hasConcept C19966478 @default.
• W4226471625 hasConcept C41008148 @default.
• W4226471625 hasConcept C49441653 @default.
• W4226471625 hasConcept C5799516 @default.
• W4226471625 hasConcept C62649853 @default.
• W4226471625 hasConcept C76155785 @default.
• W4226471625 hasConcept C90509273 @default.
• W4226471625 hasConceptScore W4226471625C10138342 @default.
• W4226471625 hasConceptScore W4226471625C126042441 @default.
• W4226471625 hasConceptScore W4226471625C127313418 @default.
• W4226471625 hasConceptScore W4226471625C13280743 @default.
• W4226471625 hasConceptScore W4226471625C154945302 @default.
• W4226471625 hasConceptScore W4226471625C162324750 @default.
• W4226471625 hasConceptScore W4226471625C172849965 @default.
• W4226471625 hasConceptScore W4226471625C176809094 @default.
• W4226471625 hasConceptScore W4226471625C198082294 @default.
• W4226471625 hasConceptScore W4226471625C19966478 @default.
• W4226471625 hasConceptScore W4226471625C41008148 @default.
• W4226471625 hasConceptScore W4226471625C49441653 @default.
• W4226471625 hasConceptScore W4226471625C5799516 @default.
• W4226471625 hasConceptScore W4226471625C62649853 @default.
• W4226471625 hasConceptScore W4226471625C76155785 @default.
• W4226471625 hasConceptScore W4226471625C90509273 @default.
• W4226471625 hasFunder F4320306101 @default.
• W4226471625 hasLocation W42264716251 @default.
• W4226471625 hasLocation W42264716252 @default.
• W4226471625 hasOpenAccess W4226471625 @default.
• W4226471625 hasPrimaryLocation W42264716251 @default.
• W4226471625 hasRelatedWork W1973670979 @default.
• W4226471625 hasRelatedWork W2890689110 @default.
• W4226471625 hasRelatedWork W2894450824 @default.
• W4226471625 hasRelatedWork W2954352986 @default.
• W4226471625 hasRelatedWork W2980486736 @default.
• W4226471625 hasRelatedWork W3010290253 @default.
• W4226471625 hasRelatedWork W4206989679 @default.
• W4226471625 hasRelatedWork W4214876051 @default.
• W4226471625 hasRelatedWork W4226471625 @default.
• W4226471625 hasRelatedWork W813170165 @default.
• W4226471625 isParatext "false" @default.
• W4226471625 isRetracted "false" @default.
• W4226471625 workType "article" @default.