惑星探査のためのリアルタイム非同期単眼オドメトリの設計
Design of a Real-time Asynchronous Monocular Odometry for Planetary Exploration
イベントカメラと誤差状態カルマンフィルタを用いて、惑星探査ローバーのリアルタイム自己位置推定を行う単眼オドメトリの設計を提案した論文。
著者: Benat Inigo, Florian Steidle, Wolfgang Stuerzl
分類: cs.RO
原文アブストラクト
We describe our preliminary design of a real-time asynchronous event-based monocular odometry for planetary exploration. Operating under strict computational constraints, planetary rovers frequently encounter complex, unpredictable environments that demand high-speed sensing and robustness to high dynamic range (HDR) lighting. Event cameras address these needs by reporting asynchronous, pixel-wise brightness changes with microsecond resolution, significantly reducing data bandwidth while maintaining robustness in extreme lighting conditions. We propose an approach based on an Error-State Kalman Filter (ESKF) that leverages this asynchronous event stream to continuously estimate camera ego-motion. The camera state is updated with every tracked position output generated by RATE, a real-time asynchronous feature tracker.