期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2006
卷号：XXXVI Part 1
出版社：Copernicus Publications
摘要：In Mars rover missions, localization of the rover with a high degree of accuracy is of fundamental importance both for safe rover navigation and for achievement of scientific and engineerin g goals. D uring the Mars Exploration rover (MER) 2003 mission, wheel odometry, sun positioning using rover images, and IMU are used to estimate rover positions and orientation. The onboard visual odometry (VO) technique is applied when the rover travels on slopes o r across loose soils in order to correct errors caused by wheel slippage. The Ohio State University (OSU) team, in collaboration with the Jet Propulsion Laboratory (JPL), has been performing ground image-based rover localization using an increment al bundle adjustment (BA) method to achieve improved localization accuracy at rover locations over the entire traverse. Key to the success of the bundle adjustment is selection of a sufficient number of well-distributed tie points to link the ground images into an image network. During MER mission operations, tie points linking panoramic images taken at one rover position were selected automatically, while cross -site tie points were selected manually. It is highly desirable to automate the cross -site tie po int selection process so that rover localization can be performed onboard autonomously
