MANTLE: モジュラーアップリンク原理を用いた適応型惑星表面認識のためのフレームワーク
MANTLE: A Framework for Adaptive In-Situ Planetary Perception Using a Modular Uplink Principle
火星探査ローバーのための地形分類とボルダーセグメンテーションを同時に行うマルチタスクネットワークを提案。共有バックボーンを固定し、タスク特化ヘッドを地球で訓練してアップリンクするモジュラー設計が特徴。
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著者: Pranav Durai, Gary Doran
分類: cs.CV
原文アブストラクト
Planetary surface exploration missions rely increasingly on autonomous robotic platforms capable of interpreting complex terrain to ensure safe navigation, enable targeted science, and improve operational efficiency, as demonstrated across past Mars missions from Viking through Perseverance. Among the key perception capabilities, landform classification provides contextual information for landing site selection and scientific analysis, while boulder segmentation supports hazard assessment and path planning. This paper presents MANTLE, a multi-task adaptive network for terrain and landform extraction. The model uses a shared DINOv2 backbone for high-level feature extraction with task-specific heads: a classification head for large-scale landform classification, and a segmentation head for pixel-wise boulder localization, each trained on curated datasets built respectively from HiRISE orbital imagery and MSL surface-level imagery. The classification head achieved a test accuracy of 92.56% across seven Martian terrain classes, while the segmentation head achieved a validation IoU of 0.753 and showed strong cross-sol generalization on a held-out test set from previously unseen rover traverses. A key advantage of MANTLE is its modular, extensible design, formalized here as the Modular Uplink Principle: only a shared, frozen backbone needs to remain onboard, while subsequent perception capabilities are trained on Earth as lightweight task-specific heads and uplinked without retraining the full model. This work demonstrates two such high-impact capabilities, terrain classification and boulder segmentation, as an initial realization of a framework built to support many more over a mission's lifetime. With this foundation, future explorers need not arrive on Mars fully formed, but can continue to learn, adapt, and grow more capable with every uplink.