Relative localization of a hopping rover on an asteroid surface using optical flow

Exploration in the low-gravity environment on an asteroid surface is best achieved by using a hopping rover. Robust and effective control of such a rover will require autonomous navigation, for which accurate localization is an important element. The combination of a hopping platform on an extraterrestrial, low-gravity environment presents unique challenges for the task of localization. In this paper, the authors will evaluate the use of optical flow as a relative localization technique.