Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps
Riccardo Giubilato,Mallikarjuna Vayugundla,Wolfgang Stürzl,Martin J. Schuster,Armin Wedler,Rudolph Triebel,Riccardo Giubilato,Mallikarjuna Vayugundla,Wolfgang Stürzl,Martin J. Schuster,Armin Wedler,Rudolph Triebel
Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage the ability of stereo cameras to provide both visual and depth information, guiding the search and validation of loop closures from a multi-modal perspective. We ...
