EXOMARS VISLOC- THE VISUAL LOCALISATION SYSTEM FOR THE EXOMARS ROVER

摘要

The VisLoc algorithm has been developed for the ExoMars rover based on a solid foundation of a well-proven Visual Odometry solution, and further enhanced in order to meet the specific needs of the ExoMars Rover project. The final solution arrived at provides a robust system capable of delivering POSE updates to the GNC in real-time whilst the rover is operating, greatly enhancing the ability of the rover to autonomously traverse the martian terrain.