Research/ PLANETARY ROBOTICS
Lunar rover's vision technology for auto-navigation
Xiaoyan Mao, Jianxin Chen, Yan Xing, Baoyi Teng, Xiang Liu, Yong Jia
Chinese Control Conference (CCC) 2014/
Space × RoboticsPLANETARY ROBOTICS
Technique
Perception & State EstimationOpenAlex topic: Advanced Vision and Imaging · Motion Planning & NavigationOpenAlex keyword: autonomous navigation
Missions
Chang'e & Yutunamed in 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.