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:	Sungchul Hong, Antyanta Bangunharcana, Jae-Min Park, Minseong Choi, Hyu-Soung Shin
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	planetary construction mapping exploration rover visual SLAM deep learning 3D terrain map Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/1ea444f1a45c41bdb58b17167e01a00b
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id	oai:doaj.org-article:1ea444f1a45c41bdb58b17167e01a00b
record_format	dspace
spelling	oai:doaj.org-article:1ea444f1a45c41bdb58b17167e01a00b2021-11-25T18:58:40ZVisual SLAM-Based Robotic Mapping Method for Planetary Construction10.3390/s212277151424-8220https://doaj.org/article/1ea444f1a45c41bdb58b17167e01a00b2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7715https://doaj.org/toc/1424-8220With 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.Sungchul HongAntyanta BangunharcanaJae-Min ParkMinseong ChoiHyu-Soung ShinMDPI AGarticleplanetary construction mappingexploration rovervisual SLAMdeep learning3D terrain mapChemical technologyTP1-1185ENSensors, Vol 21, Iss 7715, p 7715 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	planetary construction mapping exploration rover visual SLAM deep learning 3D terrain map Chemical technology TP1-1185
spellingShingle	planetary construction mapping exploration rover visual SLAM deep learning 3D terrain map Chemical technology TP1-1185 Sungchul Hong Antyanta Bangunharcana Jae-Min Park Minseong Choi Hyu-Soung Shin Visual SLAM-Based Robotic Mapping Method for Planetary Construction
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.
format	article
author	Sungchul Hong Antyanta Bangunharcana Jae-Min Park Minseong Choi Hyu-Soung Shin
author_facet	Sungchul Hong Antyanta Bangunharcana Jae-Min Park Minseong Choi Hyu-Soung Shin
author_sort	Sungchul Hong
title	Visual SLAM-Based Robotic Mapping Method for Planetary Construction
title_short	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_sort	visual slam-based robotic mapping method for planetary construction
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/1ea444f1a45c41bdb58b17167e01a00b
work_keys_str_mv	AT sungchulhong visualslambasedroboticmappingmethodforplanetaryconstruction AT antyantabangunharcana visualslambasedroboticmappingmethodforplanetaryconstruction AT jaeminpark visualslambasedroboticmappingmethodforplanetaryconstruction AT minseongchoi visualslambasedroboticmappingmethodforplanetaryconstruction AT hyusoungshin visualslambasedroboticmappingmethodforplanetaryconstruction
_version_	1718410450312364032

Visual SLAM-Based Robotic Mapping Method for Planetary Construction

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