大连理工大学学报2011，Vol.51Issue(5)：744-749,6.
沙质环境中基于视觉的月球车定位方法
Visual-based location for lunar rover in sandy environment
摘要
Abstract
Visual odometry is an important sensor for lunar rover, which can realize vehicle location and slip check in soft lunar surface. A visual odometry algorithm with high adaptability to sandy simulated lunar surface is developed. Firstly, morphology-based image enhancement method is studied to guarantee enough corners been extracted. Secondly, corner matching is implemented under epipolar restriction and the efficiency of corner matching and tracking is enhanced by optimizing the search window size and estimated search direction. Thirdly, random sample consensus （RANSAC） algorithm is proposed to compute and update rover pose to the 6 degree of freedom. Finally, experiments under a simulated lunar surface have confirmed the stability and positioning accuracy of the proposed method, even while driving in an environment of scarce features.关键词
月球车/视觉里程计/运动估计/随机抽样一致（RANsAC）Key words
lunar rover/visual odometry/motion estimation/random sample consensus （RANSAC）分类
信息技术与安全科学引用本文复制引用
李琳辉,赵一兵,郭烈,张明恒..沙质环境中基于视觉的月球车定位方法[J].大连理工大学学报,2011,51(5):744-749,6.基金项目
基金项目：“八六三”国家高技术研究发展计划资助项目（2007AA122318）. （）
