{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T05:18:24Z","timestamp":1781587104771,"version":"3.54.5"},"reference-count":56,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2021,11,19]],"date-time":"2021-11-19T00:00:00Z","timestamp":1637280000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003698","name":"Korea Institute of Civil Engineering and Building Technology","doi-asserted-by":"publisher","award":["KICT 2020-153"],"award-info":[{"award-number":["KICT 2020-153"]}],"id":[{"id":"10.13039\/501100003698","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the development of in-situ resource utilization (ISRU) technology, the recent planetary exploration has focused on rover (or lander)-based surface missions toward the base construction for long-term human exploration and habitation. However, a 3D terrain map, mostly based on orbiters\u2019 terrain images, has insufficient resolutions for construction purposes. In this regard, this paper introduces the visual simultaneous localization and mapping (SLAM)-based robotic mapping method employing a stereo camera system on a rover. In the method, S-PTAM is utilized as a base framework, with which the disparity map from the self-supervised deep learning is combined to enhance the mapping capabilities under homogeneous and unstructured environments of planetary terrains. The overall performance of the proposed method was evaluated in the emulated planetary terrain and validated with potential results.<\/jats:p>","DOI":"10.3390\/s21227715","type":"journal-article","created":{"date-parts":[[2021,11,21]],"date-time":"2021-11-21T21:00:50Z","timestamp":1637528450000},"page":"7715","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Visual SLAM-Based Robotic Mapping Method for Planetary Construction"],"prefix":"10.3390","volume":"21","author":[{"given":"Sungchul","family":"Hong","sequence":"first","affiliation":[{"name":"Department of Geoinformatic Engineering, Inha University, Incheon 22212, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antyanta","family":"Bangunharcana","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, College of Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jae-Min","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Geoinformatic Engineering, Inha University, Incheon 22212, Korea"},{"name":"Department of Future Technology and Convergence Research, Korea Institute of Civil Engineering and Building Technology, Goyang 10223, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5415-334X","authenticated-orcid":false,"given":"Minseong","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, College of Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hyu-Soung","family":"Shin","sequence":"additional","affiliation":[{"name":"Department of Future Technology and Convergence Research, Korea Institute of Civil Engineering and Building Technology, Goyang 10223, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,19]]},"reference":[{"key":"ref_1","first-page":"524","article-title":"Detection of potential site for future human habitability on the Moon using Chandrayaan-1 data","volume":"100","author":"Arya","year":"2011","journal-title":"Curr. 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