Research and Simulation Analysis of Stereo Matching Technology of Lunar Rover
- Paper number
IAC-11,A3,2.P,10,x10341
- Author
Mr. Xing Zhou, Shanghai Key Laboratory of Spacecraft Mechanism, Aerospace System Engineering Shanghai, China
- Coauthor
Dr. Minjun Mao, Shanghai Key Laboratory of Spacecraft Mechanism, Aerospace System Engineering Shanghai, China
- Coauthor
Ms. Chen Zhao, Shanghai Key Laboratory of Spacecraft Mechanism, Aerospace System Engineering Shanghai, China
- Coauthor
Hu-xin Yan, Aerospace System Engineering Institute, China
- Year
2011
- Abstract
The technology of navigation and control is critical for the safety of lunar rover which is the most efficient equipment for lunar exploration. In this paper, one of the key technologies of vision-based navigation, which is stereo matching, is presented. Considering the particularity of working condition of lunar rover, area-based matching algorithm is specifically studied. Moreover, the central problem of vision-based navigation is the optimization between computational accuracy and real time implementation. According to the problems of traditional SAD algorithm, two ways to improve its performance are employed. That is, a shiftable window is used to improve the algorithm performance when dealing with outliers in windows that straddle object boundaries, and optimization strategies of the computation of window cost as well as the Integral Image technique are introduced to achieve a very fast implementation. Both the simulation results and the ground experiments on our prototype of lunar rover (MR-3) illustrate that the introduced methods are effective.
- Abstract document
- Manuscript document
(absent)