{"id":"https://openalex.org/W7223326720","doi":"https://doi.org/10.48550/arxiv.2610.30774","title":"Evaluation of Front-End Feature Matching for Lunar Visual SLAM","display_name":"Evaluation of Front-End Feature Matching for Lunar Visual SLAM","publication_year":2026,"publication_date":"2026-10-22","ids":{"openalex":"https://openalex.org/W7223326720","doi":"https://doi.org/10.48550/arxiv.2610.30774"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2610.30774","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.30774","pdf_url":"https://arxiv.org/pdf/2610.30774","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2610.30774","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5159312205","display_name":"Guillem Casadesus Vila","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vila, Guillem Casadesus","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5069625302","display_name":"Grace Gao","orcid":"https://orcid.org/0000-0002-1807-8637","observed_orcids":["https://orcid.org/0000-0002-1807-8637"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gao, Grace","raw_affiliation_strings":["Department of Aeronautics and Astronautics Stanford University Stanford , CA , United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics Stanford University Stanford , CA , United States","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0007999999797903001,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/feature-matching","display_name":"feature matching","score":0.8830000162124634},{"id":"https://openalex.org/keywords/lunar-rover","display_name":"lunar rover","score":0.8849999904632568},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"visual odometry","score":0.9819999933242798},{"id":"https://openalex.org/keywords/superpoint","display_name":"SuperPoint","score":0.8709999918937683},{"id":"https://openalex.org/keywords/sift","display_name":"SIFT","score":0.9710000157356262},{"id":"https://openalex.org/keywords/lightglue","display_name":"LightGlue","score":0.8939999938011169},{"id":"https://openalex.org/keywords/dinov2","display_name":"DINOv2","score":0.9150000214576721},{"id":"https://openalex.org/keywords/pose-estimation","display_name":"pose estimation","score":0.47999998927116394},{"id":"https://openalex.org/keywords/stereo-visual-odometry","display_name":"stereo visual odometry","score":0.8339999914169312}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.805899977684021},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7623999714851379},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.718999981880188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7188000082969666},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.6732000112533569},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5587000250816345},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.5400999784469604},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5336999893188477},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4832000136375427},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48100000619888306},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.47859999537467957},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4277999997138977},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.41620001196861267},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4142000079154968},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.3928000032901764},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.35569998621940613},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.35499998927116394},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.31189998984336853},{"id":"https://openalex.org/C22041718","wikidata":"https://www.wikidata.org/wiki/Q638949","display_name":"Geolocation","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.2867000102996826},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C61455927","wikidata":"https://www.wikidata.org/wiki/Q1030529","display_name":"Blossom algorithm","level":3,"score":0.2630999982357025},{"id":"https://openalex.org/C146159030","wikidata":"https://www.wikidata.org/wiki/Q7625099","display_name":"Structure from motion","level":3,"score":0.260699987411499},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2587999999523163},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.25780001282691956}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2610.30774","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.30774","pdf_url":"https://arxiv.org/pdf/2610.30774","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2610.30774","doi":"https://doi.org/10.48550/arxiv.2610.30774","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2610.30774","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2610.30774","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.30774","pdf_url":"https://arxiv.org/pdf/2610.30774","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7223326720.pdf","grobid_xml":"https://content.openalex.org/works/W7223326720.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4386883614","https://openalex.org/W4413918301","https://openalex.org/W2763638150","https://openalex.org/W7093300932","https://openalex.org/W3107809340","https://openalex.org/W7138903213","https://openalex.org/W2353740401","https://openalex.org/W1977773715","https://openalex.org/W2462982031","https://openalex.org/W7167664656"],"abstract_inverted_index":{"Lunar":[0],"rovers":[1],"will":[2,16],"primarily":[3],"rely":[4],"on":[5,52,62,84,92,106,145,158,176,189,211,221,237],"cameras":[6],"for":[7,22],"localization":[8],"until":[9],"navigation":[10],"satellite":[11],"services":[12],"are":[13,50,166,199],"deployed,":[14],"and":[15,27,33,36,55,70,89,102,110,113,123,149,163,246,261],"continue":[17],"to":[18],"need":[19,266],"them":[20,61,231],"afterwards":[21],"relative":[23,187],"navigation,":[24],"hazard":[25],"detection,":[26],"surface":[28],"operations.":[29],"Visual":[30],"odometry":[31],"(VO)":[32],"Simultaneous":[34],"Localization":[35],"Mapping":[37],"(SLAM)":[38],"mostly":[39],"estimate":[40],"motion":[41],"by":[42],"matching":[43,80,144],"features":[44],"between":[45,81],"frames.":[46],"However,":[47],"feature":[48,115],"matchers":[49],"developed":[51],"urban,":[53],"indoor":[54],"driving":[56],"scenes,":[57],"planetary":[58],"studies":[59],"compare":[60],"orbital":[63],"registration":[64],"or":[65,155],"within":[66],"complete":[67],"SLAM":[68],"systems,":[69],"real":[71,190],"lunar":[72,147],"imagery":[73],"with":[74,141,153,217,243,250],"reference":[75],"poses":[76],"is":[77,252],"scarce,":[78],"so":[79,180],"rover":[82,191],"frames":[83],"low-texture,":[85],"harshly":[86],"lit":[87],"terrain,":[88],"its":[90],"effect":[91],"VO,":[93,195],"has":[94],"not":[95,185,200],"been":[96],"compared.":[97],"We":[98],"benchmark":[99],"eleven":[100],"classical":[101,218],"learned":[103,255],"detector-matcher":[104],"combinations":[105],"nine":[107],"synthetic,":[108],"lunar-testbed,":[109],"terrestrial-analogue":[111],"datasets,":[112,179],"a":[114,132,227],"tracker,":[116],"scoring":[117],"pairwise":[118],"pose":[119],"accuracy":[120],"against":[121],"baseline":[122],"the":[124,128,136,196,238,253],"trajectory":[125],"error":[126],"of":[127],"resulting":[129],"VO.":[130],"Under":[131],"common":[133],"rotation-only":[134],"metric,":[135],"SuperPoint":[137,174,197,224,249],"pairings":[138,175,198],"outperform":[139],"SIFT":[140,170],"ratio-tested":[142],"FLANN":[143],"both":[146,173],"testbeds":[148],"one":[150],"analogue":[151],"site,":[152],"smaller":[154],"unresolved":[156],"differences":[157],"synthetic":[159,178,181],"data.":[160],"When":[161],"rotation":[162],"translation":[164],"direction":[165],"scored":[167],"jointly,":[168],"this":[169],"pairing":[171],"exceeds":[172],"four":[177],"results":[182],"alone":[183],"do":[184],"establish":[186],"performance":[188],"imagery.":[192],"In":[193],"stereo":[194],"consistently":[201],"more":[202,232,244],"accurate":[203,233],"than":[204,234],"SIFT,":[205],"but":[206],"only":[207],"they":[208],"keep":[209],"tracking":[210],"all":[212],"eight":[213],"sequential":[214],"datasets.":[215],"Pairings":[216],"detectors":[219],"depend":[220],"lighting":[222],"while":[223],"changes":[225],"little:":[226],"low":[228],"spotlight":[229],"makes":[230],"diffuse":[235],"light":[236],"same":[239],"testbed":[240],"views,":[241],"consistent":[242],"contrast":[245],"detected":[247],"keypoints.":[248],"LightGlue":[251],"fastest":[254],"combination":[256],"(16":[257],"ms":[258],"per":[259],"frame),":[260],"DINOv2":[262],"retrieval":[263],"proposals":[264],"still":[265],"geometric":[267],"verification.":[268]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-10-24T00:00:00"}
