Title :
Lunar rover´s vision technology for auto-navigation
Author :
Mao Xiaoyan ; Chen Jianxin ; Xing Yan ; Teng Baoyi ; Liu Xiang ; Jia Yong
Author_Institution :
Beijing Inst. of Control Eng., Beijing, China
Abstract :
This paper introduces the vision technology for auto-navigation on the lunar surface in CE-3 project. The basic principle of stereo vision by navigation cameras and hazard cameras is explicated. The idiographic reality including inner parameter correction, epipolar line rectification, DOG filter, dense matching, disparity map filter and 3D coordinate calculation are described in details and the process results of real lunar images are brought out in the end.
Keywords :
computer vision; computerised navigation; filtering theory; image matching; lunar surface; planetary rovers; stereo image processing; 3D coordinate calculation; CE-3 project; DOG filter; autonavigation; calculation inner parameter correction; dense matching; disparity map filter; epipolar line rectification; hazard cameras; idiographic reality; lunar rover vision technology; lunar surface; navigation cameras; real lunar images; stereo vision; Cameras; Control engineering; Electronic mail; Matched filters; Moon; Navigation; Stereo vision; Auto Navigation; Lunar Rover; Stereo Vision;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896741
