A disparity map extraction algorithm for lunar rover BH2

According to analyze vision system of hazard cameras for lunar rover BH2 and characteristics of working environment, firstly, the dense disparity map is generated by photometric consistency dense matching; Secondly, environmental noise is filtered out by morphology filtering; Finally, the paper can obtain reliable dense disparity map. Furthermore, the paper uses three sets of experiment results on the disparity map for lunar rover BH2 to validate the algorithm. The experimental results show that the disparity map extraction algorithm possesses the features with less calculation amount, high reliability, robustness of illumination change and environmental noise, which can achieve dense reliable disparity map and meet the avoid obstacle requirement of BH2.