Mars Rover Localization based on Feature Matching between Ground and Orbital Imagery

Abstract

Mars rover localization is usually realized with data from odometers, inertial measurement units, and stereo cameras. Location errors accumulate inevitably during any long-range rover traverse when data from only these ground-based sensors is employed. This paper presents a new approach to rover localization based on feature extraction and matching between ground (rover) and orbital imagery. This new approach can localize the rover in orbital imagery, eliminating the accumulated localization error and thereby improving the localization accuracy for long range rover traverse. The proposed approach is tested using NAVCAM images acquired by the Spirit and Opportunity rovers at multiple positions along with HIRISE orbital imagery covering the two landing sites. Results show that this new approach is effective in areas where there are outstanding rocks or outcroppings. The accuracy of this new localization approach is better than one pixel of the HIRISE image (which is 0.25 m).