ShadowNav: Autonomous Global Localization for Lunar Navigation in Darkness

no code implementations • 2 May 2024 • Deegan Atha, R. Michael Swan, Abhishek Cauligi, Anne Bettens, Edwin Goh, Dima Kogan, Larry Matthies, Masahiro Ono

The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies.

ShadowNav: Crater-Based Localization for Nighttime and Permanently Shadowed Region Lunar Navigation

no code implementations • 11 Jan 2023 • Abhishek Cauligi, R. Michael Swan, Hiro Ono, Shreyansh Daftry, John Elliott, Larry Matthies, Deegan Atha

This GITL operation limits the distance that can be driven in a day to a few hundred meters, which is the distance that the rover can maintain acceptable localization error via relative methods.

Autonomous Driving Edge Detection

Lunar Rover Localization Using Craters as Landmarks

no code implementations • 18 Mar 2022 • Larry Matthies, Shreyansh Daftry, Scott Tepsuporn, Yang Cheng, Deegan Atha, R. Michael Swan, Sanjna Ravichandar, Masahiro Ono

At the end of each drive, a ground-in-the-loop (GITL) interaction is used to get a position update from human operators in a more global reference frame, by matching images or local maps from onboard the rover to orbital reconnaissance images or maps of a large region around the rover's current position.

Position Visual Odometry