Stereo vision technologies for China's lunar rover exploration mission

	Stereo vision technologies for China's lunar rover exploration mission
	Li, Minglei 1; Sun, Zezhou 1; Liu, Shaochuang 1; Ma, Youqing 1; Ma, Hao 1; Sun, Changming 1; Jia, Yang 1
刊名	International Journal of Robotics and Automation
	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
内容类型	期刊论文
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.