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cs.CV2026
Evaluation of Front-End Feature Matching for Lunar Visual SLAM
Guillem Casadesus Vila, Grace Gao
Lunar rovers will primarily rely on cameras for localization until navigation satellite services are deployed, and will continue to need them afterwards for relative navigation, ha…
cs.RO2026
Full Stack Navigation, Mapping, and Planning for the Lunar Autonomy Challenge
Adam Dai, Asta Wu, Keidai Iiyama +4
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challengi…
cs.RO2026
GNSS-based Lunar Orbit and Clock Estimation With Stochastic Cloning UD Filter
Keidai Iiyama, Grace Gao
This paper presents a terrestrial GNSS-based orbit and clock estimation framework for lunar navigation satellites. To enable high-precision estimation under the low-observability c…