Multi-Modal Localization for Autonomous Lunar Lander Robert Fisher - - PowerPoint PPT Presentation

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multi modal localization for autonomous lunar lander
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Multi-Modal Localization for Autonomous Lunar Lander Robert Fisher - - PowerPoint PPT Presentation

Oct 31, 2022 425 likes •563 views

Multi-Modal Localization for Autonomous Lunar Lander Robert Fisher Heather Jones Localizing Relative to the Moon Extended Kalman Filter Lunar Reconnaissance Orbiter Data Laser altimeter ranges Camera images Motion Model x

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SLIDE 1

Multi-Modal Localization for Autonomous Lunar Lander

Robert Fisher Heather Jones

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SLIDE 2

Localizing Relative to the Moon

  • Extended Kalman Filter
  • Lunar Reconnaissance Orbiter Data

– Laser altimeter ranges – Camera images

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SLIDE 3

Motion Model

  • xt+1 = xt + vt * dt + 0.5*at*dt2
  • vt+1 = vt + at*dt
  • Accelerations treated as controls,

calculated from ground truth position

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SLIDE 4

Error with Motion Model Only (Starting on ground-truth trajectory)

Position Error (m) Velocity Error (m/s)

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SLIDE 5

LRO Laser Altimeter, Digital Elevation Map

5 points per frame ~28 frames per second

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SLIDE 6

Laser Measurement Model: Single Point Range

Position (m) Velocity (m/s)

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SLIDE 7

Laser Measurement Model: Terrain Correlation to Sequence of Ranges

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SLIDE 8

LRO Camera Images

Map Observation

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SLIDE 9

LRO Camera Images

Map Observation

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SLIDE 10

SIFT Keypoints

Map Observation

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SLIDE 11

Image Measurement Model

5 10 15 20 25 30 35 40 500 1000 1500 2000 2500 2360 2380 2400 2420 2440 2460 2480 2500 2520 2540 2560 0.002 0.004 0.006 0.008 0.01 0.012 0.014

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SLIDE 12

References

  • Avrim Blum, Tom Mitchell. “Combining labeled and unlabeled data with co-

training”, COLT 1998.

  • Arturo Gil, et al. “Monte carlo localization using sift features”, In Jorge S.

Marques, Nicolas Perez de la Blanca, and Pedro Pina, eds., Pattern Recognition and Image Analysis, vol. 3522 of Lecture Notes in Computer Science, pp. 623-630. Springer 2005.

  • Andrew E. Johnson, et al. “A general approach to terrain relative navigation

for planetary landing”, In AIAA 07, 2007.

  • A. Oliva and A. Torralba. “Building the gist of a scene: the role of global

image features in recognition”, Progress in brain research, 155:23-36, 2006.

  • Christian Siagian and Laurent Itti. “Biologically inspired mobile robot vision

localization”, 2006.

  • David G. Lowe. “Distinctive image features from scale-invariant keypoints”,

International Journal of Computer Vision, 60:91-110, 2004.

  • Gordon Chin, et al. “Lunar Reconnaissance Orbiter Overview: The

Instrument Suite and Mission”, Springer 2007.

  • Leena Singh, Sungyung Lim. “On Lunar on-orbit Vision-Based Navigation:

Terrain Mapping, Feature Tracking driven EKF”, AIAA Guidance 2008.