3D Mapping and Positioning Technology of Lunar Environment Based on LiDAR

Abstract

-Using intelligent guidance system for lunar sample collection, Simultaneous lunar environment 3D mapping and localization technology (SLAM) is a key problem to be solved urgently. The lunar illumination changes dramatically and the terrain is complex. And limited computing power of the intelligent guidance system on the moon will affect the positioning accuracy of the algorithm. In view of the low positioning accuracy of LiDAR in the current lunar environment. This paper use an algorithm with higher positioning accuracy, which integrates the front-end feature extraction algorithm, the back-end optimization algorithm based on factor graph and the Scan Context loop closure detection algorithm. The simulation platform of lunar environment is built by Airsim to test the algorithm, and the robustness and accuracy of the algorithm are verified.