Uncertainty evaluation and calibration of a vision-basedsystem for displacement and rotation measurement inplanetary exploration space missions

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 visual-odometry solution is analyzed. Particularly, a vision-based instrument for displacement and rotation measurement is described and calibrated using a simulated rocky scene. The most significant uncertainty sources are found out by experimental tests. Different motion types are considered and the evaluated uncertainty are compared.