基于立体视觉的月面地形重构

为了使月球探测器在月球表面安全的软着陆,需要对着陆区域的地形进行三维重构。提出了一种长基线的立体视觉的重构方法。在重构方法中,采用尺度不变特征变换方法,解决了存在旋转和缩放的图像的匹配问题;通过鲁棒最小二乘法估计相对旋转和位移;通过极坐标投影的方法对图像进行校正;使用归一化互相关算法完成立体图像对的匹配;结合Locus方法对地形进行三维重构。仿真的结果表明该方法可以有效的应用于月面地形的重构。

Reconstruction of lunar terrain based on stereo vision

In order to make lunar lander safely landing on the moon,the terrain of landing region should be reconstructed.A long base-line stereo vision reconstruction method is proposed.In this reconstruction method,the scale invariant feature transform method is adopted to overcome the problem of matching images with rotation and scale changes;the relative rotation and translation are computed through the robust least square estimation method;the image rectification is computed by using the polar coordinate projection method;the correspondence of stereo image pair is calculated through the normalized cross-correlation algorithm;the terrain 3D reconstruction is accomplished by using the Locus method.The results of simulation show that this method can be used in the reconstruction of lunar terrain effectively.