A novel method of image-based map building and navigation is proposed for future planetary rovers. The proposed map is not a usual height map, but consists of several images of landmarks connected by the required rover actions from the rover position and orientation from which one of the landmark image is obtained to the position and orientation where another landmark image is obtained. This is...

A scheme for extracting environment features from 1D range data and their interpretation is presented. Segmentation is done by deciding on a measure of model fidelity which is applied to adjacent groups of measurements. The extraction process is considered to include a subsequent matching step where segments which belong to the same landmark are to be merged while keeping track of those which o...

This paper presents a grid-based scan-to-map matching technique for accurate 2D map building. At every acquisition of a new scan, the proposed technique matches the new scan to the previous scan similarly to the conventional techniques, but further corrects the error by matching the new scan to the globally defined map. In order to achieve best scan-to-map matching at each acquisition, the map ...