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This concept is known as Terrain Relative Navigation (TRN).
This paper deals with the problem of the navigation of a lunar lander based on the Terrain Relative Navigation approach.
Terrain Relative Navigation A vehicle can estimate its position simply by measuring the shape of nearby terrain and comparing that measurement with a map.
Krukowski, S., and S. Rock, "Waypoint planning for Autonomous Underwater Vehicles with Terrain Relative Navigation", OCEANS 2016 MTS/IEEE, Monterey, CA, 09/2016.
In order to contribute to the development roadmap of these technologies, this paper will present the Simulation Infrastructure for Autonomous Navigation technologies (SIAN) aiming at simulating with hardware-in-the-loop and high repeatability vision-based terrain relative navigation algorithms.
The other big $10 million prize goes to Astrobotic Technology, which will, like Blue Origin, be working on a sensor suite for Terrain Relative Navigation.
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Dektor, S., "Robust adaptive terrain-relative navigation", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 188, 12/2015.
Dektor, S., and S. M. Rock, "Robust Adaptive Terrain-Relative Navigation", MTS/IEEE OCEANS 2014, St. Johns, Newfoundland, 09/2014.
One is Terrain-Relative Navigation, which can accurately work out where the rover is headed and divert to a safer place if it looks like a tricky surface.
Padial, J., "Underwater robotic terrain-relative navigation using acoustic shadows in sonar imagery", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 183, 03/2017.
Rock, S. M., B. Hobson, and S. E. Houts, "Return-to-site of an AUV using Terrain-Relative Navigation: Field Trials", Autonomous Underwater Vehicles (AUV), 2014 IEEE/OES, Oxford, MS, pp. 1-8, 10/2014.
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