{"id":"https://openalex.org/W7138903213","doi":"https://doi.org/10.48550/arxiv.2603.17229","title":"Visual SLAM with DEM Anchoring for Lunar Surface Navigation","display_name":"Visual SLAM with DEM Anchoring for Lunar Surface Navigation","publication_year":2026,"publication_date":"2026-03-18","ids":{"openalex":"https://openalex.org/W7138903213","doi":"https://doi.org/10.48550/arxiv.2603.17229"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.17229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.17229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.17229","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129901414","display_name":"Adam Dai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Adam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085366827","display_name":"Guillem Casadesus Vila","orcid":"https://orcid.org/0000-0001-7460-9976"},"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"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Grace","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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":0.5440999865531921,"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":0.5440999865531921,"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/T10406","display_name":"Planetary Science and Exploration","score":0.31150001287460327,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.014700000174343586,"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/visual-odometry","display_name":"Visual odometry","score":0.8184000253677368},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6625000238418579},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6492000222206116},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5918999910354614},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5708000063896179},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4659000039100647},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.4462999999523163},{"id":"https://openalex.org/keywords/digital-elevation-model","display_name":"Digital elevation model","score":0.4383000135421753},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.41819998621940613}],"concepts":[{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.8184000253677368},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6938999891281128},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6625000238418579},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6492000222206116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6456999778747559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6111000180244446},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5918999910354614},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5708000063896179},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4659000039100647},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.4462999999523163},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.4383000135421753},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.41819998621940613},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4011000096797943},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3962000012397766},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.38449999690055847},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.35569998621940613},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3488999903202057},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3359000086784363},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32010000944137573},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.2825999855995178},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.2606000006198883},{"id":"https://openalex.org/C2987395694","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Feature tracking","level":3,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.17229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.17229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.17229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.17229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Future":[0],"lunar":[1,129],"missions":[2],"will":[3],"require":[4],"autonomous":[5],"rovers":[6],"capable":[7],"of":[8,11,28],"traversing":[9],"tens":[10],"kilometers":[12],"across":[13],"challenging":[14],"terrain":[15],"while":[16,101],"maintaining":[17],"accurate":[18],"localization":[19,64],"and":[20,34,65,74,90,98,107,136],"producing":[21],"globally":[22],"consistent":[23],"maps.":[24],"However,":[25],"the":[26,41,102],"absence":[27],"global":[29,77],"positioning":[30],"systems,":[31],"extreme":[32],"illumination,":[33],"low-texture":[35],"regolith":[36],"make":[37],"long-range":[38,163],"navigation":[39,164],"on":[40],"Moon":[42],"particularly":[43],"difficult,":[44],"as":[45],"visual-inertial":[46],"odometry":[47],"pipelines":[48],"accumulate":[49],"drift":[50,161],"over":[51],"extended":[52],"traverses.":[53],"To":[54],"address":[55],"this":[56],"challenge,":[57],"we":[58],"present":[59],"a":[60,111],"stereo":[61],"visual":[62],"simultaneous":[63],"mapping":[66],"(SLAM)":[67],"system":[68],"that":[69,118,147],"integrates":[70],"learned":[71],"feature":[72,88],"detection":[73],"matching":[75,91],"with":[76],"constraints":[78,117],"from":[79,142],"digital":[80],"elevation":[81],"models":[82],"(DEMs).":[83],"Our":[84],"front-end":[85],"employs":[86],"learning-based":[87],"extraction":[89],"to":[92,95,156],"achieve":[93],"robustness":[94],"illumination":[96],"extremes":[97],"repetitive":[99,167],"terrain,":[100],"back-end":[103],"incorporates":[104],"DEM-derived":[105],"height":[106],"surface-normal":[108],"factors":[109],"into":[110],"pose":[112],"graph,":[113],"providing":[114],"absolute":[115,152],"surface":[116],"mitigate":[119],"long-term":[120],"drift.":[121],"We":[122],"validate":[123],"our":[124],"approach":[125],"using":[126],"both":[127],"simulated":[128],"traverse":[130],"data":[131,140],"generated":[132],"in":[133,162,166],"Unreal":[134],"Engine":[135],"real":[137],"Moon/Mars":[138],"analog":[139],"collected":[141],"Mt.":[143],"Etna.":[144],"Results":[145],"demonstrate":[146],"DEM":[148],"anchoring":[149],"consistently":[150],"reduces":[151],"trajectory":[153],"error":[154],"compared":[155],"baseline":[157],"SLAM":[158],"methods,":[159],"lowering":[160],"even":[165],"or":[168],"visually":[169],"aliased":[170],"terrain.":[171]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-20T00:00:00"}
