HyperLoop: Hyperspectral-Assisted Loop Closure Detection in 3D-SLAM for Planetary Exploration
Autonomous navigation of planetary rovers is challenged by visually repetitive, featureless terrain. SLAM systems based on 3D Gaussian Splatting (3DGS) offer dense mapping but rely on RGB appearance descriptors that degrade under perceptual aliasing - a common failure mode in extraterrestrial environments where physically distinct locations appear visually identical. This paper presents HyperLoop, the first framework integrating hyperspectral imaging (HSI) into the loop closure module of a 3DGS-based SLAM system. Hyperspectral descriptors encode material-level spectral signatures complementing RGB features, providing robustness to illumination changes and visual repetitiveness. Two HSI de...
| Authors | Annie Bhalla, Dennis Rotondi, Riccardo Giubilato et al. |
|---|---|
| Primary category | cs.CV |
| Published | 14 October 2026 |
| Last updated at source | 14 October 2026 |
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