Abstract
The National Aeronautics and Space Administration (NASA) of the United States has launched several rover missions for Martian surface exploration. The two most recent ones include the Mars Exploration Rover (MER) mission in 2003 and the Mars Science Laboratory (MSL) mission in 2011. Both of these missions require highly accurate rover localization and navigation techniques to obtain precise rover traverse information in order to develop long-term science planning and execute daily operations. This paper discusses several localization and navigation techniques for the MER and MSL rovers by using satellites and the instruments on board the rovers, and compares their advantages and disadvantages. The techniques discussed include wheel odometry, visual odometry, incremental bundle adjustment, identifying rovers directly from high-resolution satellite images, and matching ground features between rover images and satellite images.
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