Six-degree-of-freedom localization using an unscented kalman filter for planetary rovers

Yoji Kuroda, Atsushi Sakai, Yuya Tamura

Research output: Contribution to journalArticle


In this paper, we propose an efficient solution to 6-d.o.f. localization using an unscented Kalman filter (UKF) for planetary rovers. The solution is a technique using a modified UKF for accurate planetary rover localization. The technique is able to cope with problems that occur frequently on other planetary surfaces: wheel slip, pulsive noise of visual odometry (VO) and gyro drift. To solve these problems, the technique estimates a slippage ratio with the UKF, the accuracy of the VO with the number of inliers of feature points and sensor usefulness with a gyrodometry model. Experimental results of rover runs over rough terrain are presented and discussed; the effectiveness of proposed method and its components is shown.

Original languageEnglish
Pages (from-to)1199-1218
Number of pages20
JournalAdvanced Robotics
Issue number8-9
Publication statusPublished - 1 May 2010



  • 6-d.o.f. localization
  • Planetary rover
  • Sensor fusion
  • Slippage ratio estimation
  • Unscented kalman filter

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