LunarLoc matches boulder detections across rover traverses using graph-based data association to estimate drift-free poses in a lunar simulator, reporting centimeter-level residuals.
Distinctive image features from scale-invariant keypoints,
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LunarLoc: Segment-Based Global Localization on the Moon
LunarLoc matches boulder detections across rover traverses using graph-based data association to estimate drift-free poses in a lunar simulator, reporting centimeter-level residuals.