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Visual SLAM-Based Robotic Mapping Method for Planetary Construction

With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human explorati...

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Autores principales: Hong, Sungchul, Bangunharcana, Antyanta, Park, Jae-Min, Choi, Minseong, Shin, Hyu-Soung
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8621460/
https://www.ncbi.nlm.nih.gov/pubmed/34833786
http://dx.doi.org/10.3390/s21227715
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author Hong, Sungchul
Bangunharcana, Antyanta
Park, Jae-Min
Choi, Minseong
Shin, Hyu-Soung
author_facet Hong, Sungchul
Bangunharcana, Antyanta
Park, Jae-Min
Choi, Minseong
Shin, Hyu-Soung
author_sort Hong, Sungchul
collection PubMed
description With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human exploration and habitation. However, a 3D terrain map, mostly based on orbiters’ terrain images, has insufficient resolutions for construction purposes. In this regard, this paper introduces the visual simultaneous localization and mapping (SLAM)-based robotic mapping method employing a stereo camera system on a rover. In the method, S-PTAM is utilized as a base framework, with which the disparity map from the self-supervised deep learning is combined to enhance the mapping capabilities under homogeneous and unstructured environments of planetary terrains. The overall performance of the proposed method was evaluated in the emulated planetary terrain and validated with potential results.
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spelling pubmed-86214602021-11-27 Visual SLAM-Based Robotic Mapping Method for Planetary Construction Hong, Sungchul Bangunharcana, Antyanta Park, Jae-Min Choi, Minseong Shin, Hyu-Soung Sensors (Basel) Article With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human exploration and habitation. However, a 3D terrain map, mostly based on orbiters’ terrain images, has insufficient resolutions for construction purposes. In this regard, this paper introduces the visual simultaneous localization and mapping (SLAM)-based robotic mapping method employing a stereo camera system on a rover. In the method, S-PTAM is utilized as a base framework, with which the disparity map from the self-supervised deep learning is combined to enhance the mapping capabilities under homogeneous and unstructured environments of planetary terrains. The overall performance of the proposed method was evaluated in the emulated planetary terrain and validated with potential results. MDPI 2021-11-19 /pmc/articles/PMC8621460/ /pubmed/34833786 http://dx.doi.org/10.3390/s21227715 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Hong, Sungchul
Bangunharcana, Antyanta
Park, Jae-Min
Choi, Minseong
Shin, Hyu-Soung
Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title_full Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title_fullStr Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title_full_unstemmed Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title_short Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title_sort visual slam-based robotic mapping method for planetary construction
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8621460/
https://www.ncbi.nlm.nih.gov/pubmed/34833786
http://dx.doi.org/10.3390/s21227715
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