Multi-Modal Localization for Autonomous Lunar Lander

Robert Fisher Heather Jones

Localizing Relative to the Moon

•  Extended Kalman Filter •  Lunar Reconnaissance Orbiter Data

– Laser altimeter ranges – Camera images

Motion Model

•  xt+1 = xt + vt * dt + 0.5*at*dt2

•  vt+1 = vt + at*dt

•  Accelerations treated as controls, calculated from ground truth position

Error with Motion Model Only (Starting on ground-truth trajectory)

Position Error (m) Velocity Error (m/s)

LRO Laser Altimeter, Digital Elevation Map

5 points per frame ~28 frames per second

Laser Measurement Model: Single Point Range

Position (m) Velocity (m/s)

Laser Measurement Model: Terrain Correlation to Sequence of

Ranges

LRO Camera Images

Map Observation

LRO Camera Images

Map Observation

SIFT Keypoints

Map Observation

Image Measurement Model

0 5 10 15 20 25 30 35 400

500

1000

1500

2000

2500

2360 2380 2400 2420 2440 2460 2480 2500 2520 2540 25600

0.002

0.004

0.006

0.008

0.01

0.012

0.014

References •  Avrim Blum, Tom Mitchell. “Combining labeled and unlabeled data with co-

training”, COLT 1998. •  Arturo Gil, et al. “Monte carlo localization using sift features”, In Jorge S.

Marques, Nicolas Perez de la Blanca, and Pedro Pina, eds., Pattern Recognition and Image Analysis, vol. 3522 of Lecture Notes in Computer Science, pp. 623-630. Springer 2005.

•  Andrew E. Johnson, et al. “A general approach to terrain relative navigation for planetary landing”, In AIAA 07, 2007.

•  A. Oliva and A. Torralba. “Building the gist of a scene: the role of global image features in recognition”, Progress in brain research, 155:23-36, 2006.

•  Christian Siagian and Laurent Itti. “Biologically inspired mobile robot vision localization”, 2006.

•  David G. Lowe. “Distinctive image features from scale-invariant keypoints”, International Journal of Computer Vision, 60:91-110, 2004.

•  Gordon Chin, et al. “Lunar Reconnaissance Orbiter Overview: The Instrument Suite and Mission”, Springer 2007.

•  Leena Singh, Sungyung Lim. “On Lunar on-orbit Vision-Based Navigation: Terrain Mapping, Feature Tracking driven EKF”, AIAA Guidance 2008.