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Article

Visual SLAM-Based Robotic Mapping Method for Planetary Construction

1
Department of Geoinformatic Engineering, Inha University, Incheon 22212, Korea
2
Department of Mechanical Engineering, College of Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea
3
Department of Future Technology and Convergence Research, Korea Institute of Civil Engineering and Building Technology, Goyang 10223, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Anastasios Doulamis
Sensors 2021, 21(22), 7715; https://doi.org/10.3390/s21227715
Received: 16 September 2021 / Revised: 5 November 2021 / Accepted: 15 November 2021 / Published: 19 November 2021
(This article belongs to the Section Sensors and Robotics)
With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human exploration and habitation. However, a 3D terrain map, mostly based on orbiters’ terrain images, has insufficient resolutions for construction purposes. In this regard, this paper introduces the visual simultaneous localization and mapping (SLAM)-based robotic mapping method employing a stereo camera system on a rover. In the method, S-PTAM is utilized as a base framework, with which the disparity map from the self-supervised deep learning is combined to enhance the mapping capabilities under homogeneous and unstructured environments of planetary terrains. The overall performance of the proposed method was evaluated in the emulated planetary terrain and validated with potential results. View Full-Text
Keywords: planetary construction mapping; exploration rover; visual SLAM; deep learning; 3D terrain map planetary construction mapping; exploration rover; visual SLAM; deep learning; 3D terrain map
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MDPI and ACS Style

Hong, S.; Bangunharcana, A.; Park, J.-M.; Choi, M.; Shin, H.-S. Visual SLAM-Based Robotic Mapping Method for Planetary Construction. Sensors 2021, 21, 7715. https://doi.org/10.3390/s21227715

AMA Style

Hong S, Bangunharcana A, Park J-M, Choi M, Shin H-S. Visual SLAM-Based Robotic Mapping Method for Planetary Construction. Sensors. 2021; 21(22):7715. https://doi.org/10.3390/s21227715

Chicago/Turabian Style

Hong, Sungchul, Antyanta Bangunharcana, Jae-Min Park, Minseong Choi, and Hyu-Soung Shin. 2021. "Visual SLAM-Based Robotic Mapping Method for Planetary Construction" Sensors 21, no. 22: 7715. https://doi.org/10.3390/s21227715

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