对以下描述做重新编排和简化：Lunar rover localization is usually realized with data from odometers IMU and stereo cameras Location errors accumulate inevitably during any long-range rover traverse when data from onl

This paper introduces a new framework for lunar rover localization. Traditionally, data from odometers, IMU, and stereo cameras are used, but this can lead to accumulated location errors during long-range traverses. In this new approach, feature extraction and matching between ground and orbital imagery are used to localize the rover. This eliminates the accumulated error and improves the accuracy of rover localization during long-range traverses.