LOCALISATION OF LAND ROVER IN AN UNEXPLORED ENVIRONMENT USING SCALE INVARIANT FEATURE

The environments such as Mars surface, deep sea, etc. are unexplored. The technological advancements in the field of robotics makes it imperative to study the movement of a  robot/ rover  moving  on  a  rough  surface  viz. generally unexplored environments.[1-2] The navigation through these environments is a challenge for the robot itself. This paper addresses the problem of Simultaneous Localization and Mapping of a mobile robot to make it capable of  at least localizing or identify  itself  in  the  unknown  environment  and  making a  map of the surrounding  while  it  is  still navigating. SIFT algorithm is used in this paper for the localization of robot in an unexplored environment.