火星模擬環境における地中レーダー測位のフィールド報告
Field Report on Ground Penetrating Radar for Localization at the Mars Desert Research Station
火星模擬環境で地中レーダー（GPR）データを収集し、険しい地形でのGPR測位技術を検証したフィールド調査の知見を報告する。
著者: Anja Sheppard, Katherine A. Skinner
分類: cs.RO
原文アブストラクト
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments. Planetary rovers are already equipped with GPR for geologic subsurface characterization. GPR has been successfully used to localize vehicles on Earth, but it has not yet been explored as another modality for localization on a planetary rover. Leveraging GPR for localization can aid in efficient and robust rover pose estimation. In order to demonstrate localizing GPR in a Mars analog environment, we collected over 50 individual survey trajectories during a two-week period at the Mars Desert Research Station (MDRS). In this report, we discuss our methodology, lessons learned, and opportunities for future work.
