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Topographic mapping in planetary environments relies on accurate three‐dimensional (3D) scan registration methods. However, most global registration algorithms relying on features such as fast point feature histograms and Harris‐3D show poor alignment accuracy in these settings due to the poor structure of the Mars‐like terrain, and the variable‐resolution, occluded, sparse range data that are difficult...
This paper presents algorithmic advances and field trial results for autonomous exploration and proposes a solution to perform simultaneous localization and mapping (SLAM), complete coverage, and object detection without relying on GPS or magnetometer data. We demonstrate an integrated approach to the exploration problem, and we make specific contributions in terms of mapping, planning, and sample...
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