| 嫦娥三号巡视器视觉定位方法 |
| |
| 引用本文： | 王保丰,周建亮,唐歌实,邸凯昌,万文辉,刘传凯,王镓.嫦娥三号巡视器视觉定位方法[J].中国科学:信息科学,2014(4):452-460. |
| |
| 作者姓名： | 王保丰 周建亮 唐歌实 邸凯昌 万文辉 刘传凯 王镓 |
| |
| 作者单位： | [1]北京航天飞行控制中心,北京100094 [2]航天飞行动力学技术重点实验室,北京100094 [3]中国科学院遥感与数字地球研究所,北京100101 |
| |
| 基金项目： | 国家自然科学基金（批准号：61104190,61305137,41201480）资助项目 |
| |
| 摘 要： | 月面巡视器的定位是巡视器开展月面科学考察工作的基础,是一项关键技术.本文提出了一种基于计算机视觉的定位方法,将SIFT(scale-invariant feature transform)匹配、相关系数匹配、最小二乘匹配和光束法平差等多项技术融合,实现了相邻站间月面巡视器的导航定位.在实验室构建立体视觉导航系统对本文的方法进行可行性和精度测试,结果表明视觉定位相对精度将优于4%,并成功应用于玉兔号巡视器定位.
|
| 关 键 词： | 月面巡视器 SIFT匹配 光束法平差 视觉定位 遥操作 |
Research on visual localization method of lunar rover |
| |
| Institution: | WANG BaoFeng1＇2., ZHOU JianLiang1, TANG GeShi12, DI KaiChang3, WAN WenHui3 LIU ClmanKai1＇2 ＆ WNAG Jia1＇2 1 Beijing Aerospace Control Center of Engineering, Beijing 100094, China; 2 National Key Laboratory of Science and Technology on Areospace Flight Dynamics, Beijing 100094, China 3 Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing 100101, China |
| |
| Abstract: | Scientific investigation using the lunar rover is based on its position. Positioning the hmar rover is a key capability. This study presents a positioning method based on computer vision. The scale-invariant feature transform （SIFT） algorithm, correlation coefficient matching algorithm, least squares matching algorithm and bundle adjustment model are used together to navigate and position the rover between adjacent lunar stations. A stereoscopic navigation system was constructed in the laboratory, and used to test the feasibility and accuracy of tile method. The results validated the relative accuracy of visual orientation to better than 4%. The algorithm was successfully applied to the positioning of the ＂Jade Rabbit＂ lunar rover. |
| |
| Keywords: | hmar rover SIFT matching bundle adjustment visual location teleoperation |
| 本文献已被 CNKI 维普 等数据库收录！ |
|
