Position Estimation from Outdoor Visual Landmarks
for Teleoperation of Lunar Rovers

Fabio Cozman Eric Krotkov
Robotics Institute, Carnegie Mellon University
Pittsburgh, PA, 15213
{ fgcozman, epk }@cs.cmu.edu

• Introduction
• Related Work and Basic Relations
• Localization with Automatic Feature Extraction
  • Horizon Detection
  • Mountain Detection
• The Estimation Algorithm
  • Searching for Position
  • Comparing Position Estimates
• Experiments
• Conclusion
• References
• About this document ...