交通信息与安全2012，Vol.30Issue(4)：28-33,6.DOI:10.3963/j.issn 1674-4861.2012.04.007
基于双目立体视觉的月球车三维定位算法
A Three-dimensional Localization Algorithm of Lunar Rover Based on Binocular Vision
摘要
Abstract
In order to satisfy the requirement of autonomous navigation of lunar rover, a three-dimensional localization algorithm of lunar rover based on binocular vision was presented in the paper. Firstly, the three-dimensional localization system frame was proposed, and the important modules were analyzed. Then, such image processing as image preprocessing, feature extraction, stereo matching, 3D reconstruction, feature tracking and matching method were studied to establish accurate environment features correspondence relations. On this basis, a position and orientation change estima tion algorithm of lunar rover was described. Finally, an experiment was designed to confirm the effectiveness of the proposed method.关键词
月球车/双目立体视觉/三维定位/图像处理/位姿变化估计Key words
lunar rover/ binocular vision/ three-dimensional localization/ image processing/ position and orienta-tion change estimation分类
信息技术与安全科学引用本文复制引用
曹凤萍,王荣本,张亮修..基于双目立体视觉的月球车三维定位算法[J].交通信息与安全,2012,30(4):28-33,6.基金项目
山东交通学院科研基金项目(批准号:Z201231、Z201104)资助 （批准号:Z201231、Z201104）
