3D Scan Registration using Curvelet Features in Planetary Environments

Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most registration algorithms such as ICP, GICP and NDT show poor convergence properties in these settings due to the poor structure of the Mars-like terrain and variable resolution, occluded, sparse range data that is hard to register without some a-priori knowledge of the environment. We recently proposed a novel approach to scan registration using the curvelet transform for topographic mapping, and in this work are demonstrating its effectiveness using simulated scans from Neptec Design Group’s IVIGMS 3D laser rangefinder. At the start of the mission, the rover generates a sparse local map, and uses dense scan data while traveling to match to the original map. Simulation results comparing the average root-mean-squared errors in translation and rotation for existing methods as well as proposed approach demonstrate the improved performance of our algorithm in the challenging sparse Marslike terrain.