複数地点でのスカイラインマッチングを用いた惑星探査ローバ位置推定の高精度化

抄録

This paper presents a method of a position estimation for planetary rovers by using “skyline matching”. Skyline matching is the method that can estimate the position and attitude by comparing two types of skylines; the simulated skyline from a digital elevation model (DEM) and the extracted skyline from a camera. To improve the accuracy of the skyline matching, we propose the integration of the multiple skyline matching results using the relative position estimated by the odometry. We conducted field experiments in Oshima Island. As a result, it can be concluded that the proposed method can improve the positioning accuracy of the normal skyline matching.