Architecture of a Rover and its Navigation System Based on Artificial Vision

Purpose of this work is to present the design of a Rover and its autonomous navigation system based in the StereoLSD SLAM algorithm for reconstruction of 3D environments using solely artificial vision and its implementation in the rover type mobile robot for lunar surface exploration named Dereumbot. Other objectives of this work are to describe the systems architecture of such rover and its performance in significant tests, such as NASA competitions and analogue simulations. Finally, encountered challenges and future work for this development is described.