Maximum Likelihood Rover Localization by Matching Range Maps

This paper describes marimunl likelihood estirncr-tion techniques for performirlg rover localizatio?t in natural terrain by matching range ntaps. An OCCUpancy map of the local terrain isgertef'ated usirigstcreo visiou. The positioa of the rover rvith respect to a previously generated occupancy map M then computed by comparing the maps using a probabdistic formulation of [[ausdoz-ff matching iechrtiq~lcs. Our?rtoti?latio~lfor this work is the desire for greater autononly in Mars rozers. These techniques have been applied to data obtain edjrom the Sojouz'aer h!ar's rover and ran on-boardlhe Rocky 7 Mars rover prototype.