{"id":787,"date":"2022-04-20T17:53:39","date_gmt":"2022-04-20T17:53:39","guid":{"rendered":"https:\/\/labs.ri.cmu.edu\/moonranger\/?p=787"},"modified":"2022-04-20T17:53:39","modified_gmt":"2022-04-20T17:53:39","slug":"localizing-moonranger","status":"publish","type":"post","link":"https:\/\/labs.ri.cmu.edu\/moonranger\/localizing-moonranger\/","title":{"rendered":"Localizing MoonRanger"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"787\" class=\"elementor elementor-787\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-a7a8a59 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"a7a8a59\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-3abfade\" data-id=\"3abfade\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5ec4c38 elementor-widget elementor-widget-text-editor\" data-id=\"5ec4c38\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">Localization makes a best estimate of a robot\u2019s position by fusing data from wheel encoders, inertial measurement unit, sun compass, and camera images (visual odometry). These four sources are fused into a best estimate by combining them with an Extended Kalman Filter (EKF). Unlike Earth, this is done for the Moon without GPS. The estimate is always imperfect (including for large, determinate rovers), but without special care it can be especially challenging for a small rover like MoonRanger since:<\/span><\/p><ul><li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Low-mounted cameras generate only limited feature sets for visual odometry<\/span><\/li><li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wheel slip on soft terrain leads to poor odometry estimates from wheel encoders.\u00a0<\/span><\/li><li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Sudden jerks when the rover moves over a rock and drop down due to the lack of suspensions are sharp position discontinuities that defy best filters.\u00a0\u00a0\u00a0<\/span><\/li><\/ul><p><span style=\"font-weight: 400\">Visual odometry uses camera images like the one seen below (orangey due to the IR filter on the camera) to track and estimate the translation of the rover. This uses a feature extractor to identify interesting points like rock edges and shadow corners in serial images. As the rover moves the rock edges and shadow corners appear to move in the images. The best fit of the relative motion of the points from image to image is calculated as the best fit of the motion of the camera (hence motion of the robot) between the images. This constitutes one localization estimate input for the Kalman filter.\u00a0 <\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-a96f6e5 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"a96f6e5\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-108630d\" data-id=\"108630d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-1aa1154 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1aa1154\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-6005c0d\" data-id=\"6005c0d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e08d585 elementor-widget elementor-widget-image\" data-id=\"e08d585\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"780\" height=\"424\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1a-Image-seen-by-Morphin.png\" class=\"attachment-large size-large wp-image-788\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1a-Image-seen-by-Morphin.png 780w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1a-Image-seen-by-Morphin-300x163.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1a-Image-seen-by-Morphin-768x417.png 768w\" sizes=\"(max-width: 780px) 100vw, 780px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Figure 1a: Image seen by the cameras on Morphin<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-bcbe518\" data-id=\"bcbe518\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-dbe3c3f elementor-widget elementor-widget-image\" data-id=\"dbe3c3f\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1024\" height=\"582\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1b-Sample-test-run-1024x582.png\" class=\"attachment-large size-large wp-image-789\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1b-Sample-test-run-1024x582.png 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1b-Sample-test-run-300x171.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1b-Sample-test-run-768x437.png 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1b-Sample-test-run-1536x873.png 1536w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-1b-Sample-test-run.png 1752w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Figure 1b: A sample test run<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-0dc36c1 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"0dc36c1\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-ea4ce80\" data-id=\"ea4ce80\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-3ec043b elementor-widget elementor-widget-text-editor\" data-id=\"3ec043b\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">We develop and test localization on our surrogate rover (Morphin). Morphin has a STIM300 IMU (Inertial Measurement Unit) which double integrates accelerations. The resulting estimates of translations and rotations constitute a second motion estimate input to the EKF. Wheel encoders are used in the classical skid-steer dead reckoning equation to generate a third estimate of differential motion for the EKF. A sun sensor reads the robot\u2019s absolute bearing with respect to the moon\u2019s lat-lon, and this constitutes the fourth sensor input to the EKF. The EKF combines the four to compute its composite best localization estimate.\u00a0\u00a0\u00a0<\/span><\/p><p><span style=\"font-weight: 400\">We test with the Morphin surrogate since the flight version of MoonRanger is still in development, and because that flight version can never be subjected to dirty testing in a terrestrial moonyard. Morphin\u2019s weight, dimensions and wheel geometry differ from the flight version of MoonRanger, but it has enough fidelity for relevant algorithm development, coding and testing.\u00a0\u00a0\u00a0<\/span><\/p><p><span style=\"font-weight: 400\">We test in a 24 x 24 foot \u201cmoonyard\u201d in CMU\u2019s Gates Hillman Center. The moonyard has a motion capture system (MoCap) that covers its central 16-by-16 feet area. The MoCap provides the actual position of the robot for comparison to the robot\u2019s computed localization estimate.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-3cfb303 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"3cfb303\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c24f8a1\" data-id=\"c24f8a1\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-ec43182 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"ec43182\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-77b434b\" data-id=\"77b434b\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-8333e67 elementor-widget elementor-widget-image\" data-id=\"8333e67\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"798\" height=\"560\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2a-Picture-of-Morphin.png\" class=\"attachment-large size-large wp-image-790\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2a-Picture-of-Morphin.png 798w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2a-Picture-of-Morphin-300x211.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2a-Picture-of-Morphin-768x539.png 768w\" sizes=\"(max-width: 798px) 100vw, 798px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Figure 2a: Picture of Morphin Robot<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-1f86d70\" data-id=\"1f86d70\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-9a01924 elementor-widget elementor-widget-image\" data-id=\"9a01924\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"705\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2b-Picture-of-Moonyard-1024x705.png\" class=\"attachment-large size-large wp-image-791\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2b-Picture-of-Moonyard-1024x705.png 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2b-Picture-of-Moonyard-300x207.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2b-Picture-of-Moonyard-768x529.png 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2b-Picture-of-Moonyard-1536x1058.png 1536w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-2b-Picture-of-Moonyard.png 1999w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Figure 2b: Picture of Moonyard<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-acab043 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"acab043\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-2ea513a\" data-id=\"2ea513a\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-2a43d35 elementor-widget elementor-widget-text-editor\" data-id=\"2a43d35\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">Seen in Figure 3a is a sample straight run, where the eKF predicted where Morphin is versus where it actually was. There exists a difference in the prediction because slip was not being compensated in the eKF. The team is currently working on a slip-compensated model, using VO to track the translation which would reduce the slippage problem in state estimation.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-da584ba elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"da584ba\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-d5d3a86\" data-id=\"d5d3a86\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-d92ce5a elementor-widget elementor-widget-image\" data-id=\"d92ce5a\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"611\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3a-Ground-Truth-vs.-On-Board-768x611.png\" class=\"attachment-medium_large size-medium_large wp-image-792\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3a-Ground-Truth-vs.-On-Board-768x611.png 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3a-Ground-Truth-vs.-On-Board-300x239.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3a-Ground-Truth-vs.-On-Board-1024x814.png 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3a-Ground-Truth-vs.-On-Board.png 1220w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Figure 3a: Ground Truth vs On-board Estimation<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-93678cf elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"93678cf\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-573e004\" data-id=\"573e004\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7e3c4b7 elementor-widget elementor-widget-text-editor\" data-id=\"7e3c4b7\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">That said, the eKF effectively tracks the orientation of Morphin, as seen in Figure 3b. Especially for yaw (the heading of the rover), the ability to track the heading\u2019s changes is important so that the rover knows its driving direction.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-d400844 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"d400844\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-752bec4\" data-id=\"752bec4\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-0192fb4 elementor-widget elementor-widget-image\" data-id=\"0192fb4\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"445\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3b-Orientation-Estimates-vs.-Ground-Truth-768x445.png\" class=\"attachment-medium_large size-medium_large wp-image-793\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3b-Orientation-Estimates-vs.-Ground-Truth-768x445.png 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3b-Orientation-Estimates-vs.-Ground-Truth-300x174.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3b-Orientation-Estimates-vs.-Ground-Truth-1024x593.png 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3b-Orientation-Estimates-vs.-Ground-Truth-1536x889.png 1536w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/04\/Figure-3b-Orientation-Estimates-vs.-Ground-Truth.png 1999w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Figure 3b: Orientation Estimates vs Ground Truth on Morphin<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-3a38b44 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"3a38b44\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-aa9e3a1\" data-id=\"aa9e3a1\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-0288272 elementor-widget elementor-widget-text-editor\" data-id=\"0288272\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">The rover-mobility team is ardently working on these challenging localisation problems.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-faeaa2e elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"faeaa2e\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-747e5fa\" data-id=\"747e5fa\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-0ec8190 elementor-widget elementor-widget-text-editor\" data-id=\"0ec8190\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">Credits (rover mobility team): Benjamin Kolligs, Haidar Jamal, Varsha Kumar, Samuel Ong, Tushaar Jain, Alex Li, Vaibhav Shete<\/span><\/p><p><span style=\"font-weight: 400\">Technical Writer: Sarah Abrams<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Localization makes a best estimate of a robot\u2019s position by fusing data from wheel encoders, inertial measurement unit, sun compass, and camera images (visual odometry). These four sources are fused into a best estimate by combining them with an Extended Kalman Filter (EKF). Unlike Earth, this is done for the Moon without GPS. The estimate &hellip; <a href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/localizing-moonranger\/\">Continued<\/a><\/p>\n","protected":false},"author":28,"featured_media":789,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[28],"tags":[],"class_list":["post-787","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-software"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Localizing MoonRanger - MoonRanger<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/localizing-moonranger\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Localizing MoonRanger - MoonRanger\" \/>\n<meta property=\"og:description\" content=\"Localization makes a best estimate of a robot\u2019s position by fusing data from wheel encoders, inertial measurement unit, sun compass, and camera images (visual odometry). 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