Visual SLAM with DEM Anchoring for Lunar Surface Navigation
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global positioning systems, extreme illumination, and low-texture regolith make long-range navigation on the Moon particularly difficult, as visual-inertial odometry pipelines accumulate drift over extended traverses. To address this challenge, we present a stereo visual simultaneous localization and mapping (SLAM) system that integrates learned feature detection and matching with global constraints from digital elevation models (DEMs). Our front-end employs learning-...
| Authors | Adam Dai, Guillem Casadesus Vila, Grace Gao |
|---|---|
| Primary category | cs.RO |
| Published | 18 March 2026 |
| Last updated at source | 18 March 2026 |
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