Trajectory tracking and attitude identification of the lunar rover based on computer vision

The position and attitude identification of rover is very important for the lunar exploration, which is the precondition of path planning and trajectory tracking control of rover. It is a effective method by visual servo tracking for rover. The motion tracking model based on Kalman filter is proposed by visual feedback signal. The equations are derived for attitude identification based on four rhomboid point configurations. The conclusion by simulation and experiments prove the feasibility of trajectory tracking and attitude identification for rover based on computer vision. The research results in the paper provide the theoretical basis for the position and attitude identification of rover based on stereo vision and has some reference values in practical application.