Title :
A method study of generating digital terrain map for lunar exploration based on the stereo vision
Author :
Du, Jianjun ; He, Jinshou ; Zhu, Jianjun ; Liu, Dun
Author_Institution :
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
Abstract :
It is one of the most important technologies for lunar exploration to reconstruct three-dimensional terrain and generate digital terrain map by the stereo vision. The algorithm of generating digital terrain map based on binocular vision system is studied in this paper. Polar rectification and stereo match are made for image before three-dimensional reconstruction. According to the characteristics of the lunar terrain, grid-based digital terrain map generation method are adopted to reduce memory consume and amount of calculation. Finally, the feasibility of the algorithms proposed in the paper is verified by experiments.
Keywords :
aerospace computing; aerospace robotics; image matching; image reconstruction; mobile robots; planetary rovers; robot vision; stereo image processing; terrain mapping; 3D terrain reconstruction; binocular vision system; grid-based digital terrain map generation method; lunar exploration; planetary rover; polar rectification; stereo match; stereo vision; Calibration; Cameras; Image reconstruction; Moon; Optical distortion; Stereo vision; Three dimensional displays; calibration; digital terrain map; image rectification; stereo vision;
Conference_Titel :
Information and Automation (ICIA), 2011 IEEE International Conference on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4577-0268-6
Electronic_ISBN :
978-1-4577-0269-3
DOI :
10.1109/ICINFA.2011.5948973
