Towards Camera-LIDAR Fusion-Based Terrain Modelling for Planetary Surfaces: Review and Analysis

Abstract

In recent decades, terrain modelling and reconstruction techniques have increased research interest in precise short and long distance autonomous navigation, localisation and mapping within field robotics. One of the most challenging applications is in relation to autonomous planetary exploration using mobile robots. Rovers deployed to explore extraterrestrial surfaces are required to perceive and model the environment with little or no intervention from the ground station. Up to date, stereopsis represents the state-of-the art method and can achieve short-distance planetary surface modelling. However, future space missions will require scene reconstruction at greater distance, fidelity and feature complexity, potentially using other sensors like Light Detection And Ranging (LIDAR). LIDAR has been extensively exploited for target detection, identification, and depth estimation in terrestrial robotics, but is still under development to become a viable technology for space robotics. This paper will first review current methods for scene reconstruction and terrain modelling using cameras in planetary robotics and LIDARs in terrestrial robotics; then we will propose camera-LIDAR fusion as a feasible technique to overcome the limitations of either of these individual sensors for planetary exploration. A comprehensive analysis will be presented to demonstrate the advantages of camera-LIDAR fusion in terms of range, fidelity, accuracy and computation.

Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges

“…Camera‐LIDAR fusion was introduced in Ref. as a feasible technique to overcome the limitations of either of these individual sensors for planetary exploration. Unfortunately, these technologies have yet to be employed to the particular problem of estimating slippage.…”

The Incorporation of Field Portable Instrumentation Into Human Planetary Surface Exploration

“…Photogrammetry has been augmented with LiDAR data as well (Larsen, ; Scheidt et al, ; Stal et al, ; Whelley, Garry, et al, ; Whelley, Scheidt, et al, ). For these reasons, future landed and roving spacecraft are likely to carry a combination of camera and LiDAR instruments that provide integrated image and distance data (Chen et al, ; Shaukat et al, ).…”

Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping

“…The innovation of the method is that it reconstructed the terrain through multisensor fusion, and improves the estimation accuracy by predicting the non-systematic error caused by the wheel interaction with odometer error model based on Gaussian process. Shaukat et al [10] also proposed a fusion strategy of vision and lidar, and verified the advantages of this model in terms of distance, flexibility, and precision.…”