Dense Feature Matching for Hazard Detection and Avoidance Using Machine Learning in Complex Unstructured Scenarios

Abstract

Exploring the Moon and Mars are crucial steps in advancing space exploration. Numerous missions aim to land and research in various lunar locations, some of which possess challenging surfaces with unchanging features. Some of these areas are cataloged as lunar light plains. Their main characteristics are that they are almost featureless and reflect more light than other lunar surfaces. This poses a challenge during navigation and landing. This paper compares traditional feature matching techniques, specifically scale-invariant feature transform and the oriented FAST and rotated BRIEF, and novel machine learning approaches for dense feature matching in challenging, unstructured scenarios, focusing on lunar light plains. Traditional feature detection methods often need help in environments characterized by uniform terrain and unique lighting conditions, where unique, distinguishable features are rare. Our study addresses these challenges and underscores the robustness of machine learning. The methodology involves an experimental analysis using images that mimic lunar-like landscapes, representing these light plains, to generate and compare feature maps derived from traditional and learning-based methods. These maps are evaluated based on their density and accuracy, which are critical for effective structure-from-motion reconstruction commonly utilized in navigation for landing. The results demonstrate that machine learning techniques enhance feature detection and matching, providing more intricate representations of environments with sparse features. This improvement indicates a significant potential for machine learning to boost hazard detection and avoidance in space exploration and other complex applications.