Uncertainty analysis of a stereo system performing ego-motion measurements in a simulated planetary environment

In planetary exploration space missions, motion measurement of a vehicle on the surface of a planet is a very important task. In this work, a non linear vision-based algorithm for ego-motion measurement is described and calibrated using telephoto lenses. Several motion types, including displacement, rotation and their combination, are considered and the evaluated uncertainties are compared, pointing out strengths and weaknesses of employing telephoto lenses for motion measurement.