Mapping Methods in Teleoperation of the Mars Rover

Mapping methods based on multi-source images are the core technology in the teleoperation of Mars rovers. This study discusses the related unique control characteristics and introduces a teleoperation control mode of the Mars rover based on the “perception, detection, movement” patrol cycle. The multi-scale landing site mapping method based on multi-source data (orbit/descent/ground images) supporting the teleoperation control is described in detail, and its applications in lunar exploration missions are demonstrated. The wide baseline mapping method aimed at mapping large (e.g., mountain peaks) and long-distance targets after landing is proposed, with relevant experiments conducted by the Yutu-2 rover. The ranging error of the panoramic camera in 560 m range is about 4.1 m, and the accuracy is about 0.73%. The wide baseline model was experimentally confirmed to effectively guide task implementation with a high-precision acquisition of the long baseline stereo, laying the foundation for high-precision terrain applications.