Comparison of visual odometry systems suitable for planetary exploration

Abstract

In planetary exploration space missions, motion measurement of a vehicle on the surface of a planet is a very important task. The main contribution of this work is an experimental comparison among visual odometry systems using lenses with three different focal lengths (an ultra wide angle, a medium wide angle and a telephoto lens). The comparison is performed with a rigorous uncertainty analysis. The stereo camera is mounted on a laboratory vehicle which is driven along a closed path and the experimentally obtained uncertainties are compared, pointing out strengths and weaknesses of employing wide angle or telephoto lenses for motion measurement.