Possibility of Applying SLAM-Aided LiDAR in Deep Space Exploration

Abstract

This paper discusses the possibility of applying LiDAR based SLAM technology into deep space exploring research. Nowadays, a new round of lunar exploration upsurge comes, USA and Russia resumed their previously lunar projects, while China, ESA (European Space Agency), Japan and India all have own/joint future plans of exploring moon for distinct missions. Recently, ESA proposed to construct a lunar-base by the 2030s through international collaborations. It’s predictable that more state-of-art technologies will step out from the laboratory, support more scientific deep space research and play considerable roles in space exploration in future. LiDAR is a technology which is used widely for distance measuring and unknown environment surveying. LiDAR has the features including long distance detection, high range measurement resolution and robustness in complex ambient lighting situation. Currently, LiDAR is intensively utilized in various astronautics researches such as rover landing, docking in planetary orbit and atmospheric composition detection. This paper introduces two 2D and one 3D mapping systems using SLAM-aided LiDAR, presents all the three systems currently performance in indoor and forest cases, and finally discusses the possibility of applying the technology into various applications such as unknown environment mapping, navigation, BIM (Building Information Modelling) and damage detection in deep space exploration.