Topographical Landmarks for Ground-Level Terrain Relative Navigation on Mars(NPO-52169-1)

We have developed an automated approach to localization in which the rover makes bearing-only measurements to geographic features in its surroundings (hills, boulders, peaked ridge-lines, etc.). When the location of these landmarks can be cross-referenced with a map of Mars, the resulting solution will be globally registered and will help correct any drift during visual-odometry-aided drives.