Stereo vision technologies for China's lunar rover exploration mission
文献类型：期刊论文
| 作者 | Li, Minglei1; Sun, Zezhou1; Liu, Shaochuang1; Ma, Youqing1; Ma, Hao1; Sun, Changming1; Jia, Yang1 |
| 刊名 | International Journal of Robotics and Automation
 |
| 出版日期 | 2016 |
| 卷号 | 31期号:2页码:128-136 |
| 关键词 | PERIODIC STRUCTURES FDTD |
| 英文摘要 | In December 2013, China's Chang'e-3 system successfully landed on the moon and started carrying out rover exploration. Stereo vision technologies have played important roles in terrain mapping and rover localization from beginning to end in this mission. This article mainly discusses two stereo vision implementations. First, using stereo images, we propose a novel solution for terrain reconstruction that combines both geometry and appearance information within a joint model. This model could provide accurate terrain maps for the rover navigation and virtual reality simulations of the mission. Then, we present a binocular visual odometry algorithm which leverages an image-network-based bundle adjustment to obtain rover's position and orientation from cross-site images. In addition, both field experiments and onboard results are presented to verify the effectiveness of the proposed algorithms. These technologies have contributed substantially to the Chang'e-3 mission and help to lay a foundation for future autonomous missions. |
| 学科主题 | Automation & Control Systems; Robotics |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:20163502748658 |
| 源URL | [http://ir.radi.ac.cn/handle/183411/39401]  |
| 专题 | 遥感与数字地球研究所_SCI/EI期刊论文_期刊论文 |
| 作者单位 | 1. Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, China 2. Chinese Academy of Space Technology, China 3. CSIRO Computational Informatics at Sydney, Australia |
| 推荐引用方式 GB/T 7714 | Li, Minglei,Sun, Zezhou,Liu, Shaochuang,et al. Stereo vision technologies for China's lunar rover exploration mission[J]. International Journal of Robotics and Automation,2016,31(2):128-136. |
| APA | Li, Minglei.,Sun, Zezhou.,Liu, Shaochuang.,Ma, Youqing.,Ma, Hao.,...&Jia, Yang.(2016).Stereo vision technologies for China's lunar rover exploration mission.International Journal of Robotics and Automation,31(2),128-136. |
| MLA | Li, Minglei,et al."Stereo vision technologies for China's lunar rover exploration mission".International Journal of Robotics and Automation 31.2(2016):128-136. |
入库方式： OAI收割
来源：遥感与数字地球研究所
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