航天器工程2007，Vol.16Issue(6)：25-32,8.
利用着陆器立体视觉对月面巡视探测器定位
Research on Lunar Rover Locating Method Based on Lander Stereo Vision
石德乐 1叶培建 2贾阳 2王荣本 3郭烈3
作者信息
- 1. 山东航天电子技术研究所,烟台,264000
- 2. 中国空间技术研究院,北京,100094
- 3. 吉林大学交通学院,长春,130025
- 折叠
摘要
Abstract
In lunar exploration, lunar rover's position and attitude should be measured so that rover can run in planned path and assure its safety. Several locating methods can be taken. In this paper, a new method of lunar rover locating helped by lunar lander stereovision is presented, which uses lunar lander stereo cameras on mast to track rover's motion and calculate its position and attitude. This method is more precise and can rectify other methods locating error and reduce rover's calculation. First, the stereo cameras on mast of lunar lander take images of lunar environment and then these images are processed with color image segmentation technology and the lunar rover is identified from lunar background, then character points are searched in stereo image pairs and their three dimension coordinates are calculated by stereo disparity diagram. With the acquired more character points' 3D information, lunar rover's position and attitude can be calculated. In order to satisfy the need of lunar locating at all time, a Kalman filter is used. The experiment results show that in lunar lander vision field this method measures precisely and can satisfy the need of lunar rover locating.关键词
月面巡视探测器/定位/着陆器/立体视觉Key words
lunar rover/ locating/ lander/ stereo vision分类
航空航天引用本文复制引用
石德乐,叶培建,贾阳,王荣本,郭烈..利用着陆器立体视觉对月面巡视探测器定位[J].航天器工程,2007,16(6):25-32,8.
