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NASA NTRS · 20230012954

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

W E King·M R Zanetti·E G Hayward·K A Miller
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Abstract

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

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LiDARSLAMDetectionSimultaneous Localization and MappingKNaCKKinematic Navigation and Cartography KnapsackLunarMoonMarsCaveLava TubePyroductLunar Lava TubeLunar CaveLunar PitLunar SkylightPitSkylightISRUMartian CaveMartian Lava TubeExploration SystemsGPS DeniedSurveyMappingSpeleologyTerrestrialTerrestrial CaveSubsurfaceIn-Situ Resource UtilizationInstrument DevelopmentPlanetary CaveVoidRadiationHabitationGeologyImpact MeltRelevant Environment TestingVolcanologyAnalogAnalog Environment

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W E King, M R Zanetti, E G Hayward, K A Miller. Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping. https://ntrs.nasa.gov/citations/20230012954

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