Stereo Vision Based Motion Estimation for Lunar Rover Navigation

Author

Cui, Ping-yuan ; Yue, Fu-zhan ; Cui, Hu-tao

Author_Institution

Deep Space Exploration Res. Center, Harbin Inst. of Technol.

fYear

2006

fDate

13-16 Aug. 2006

Firstpage

3847

Lastpage

3852

Abstract

Accurate navigation autonomously on uneven terrain is a very important technique for lunar rover to execute long-range exploration on lunar surface. This paper presents a stereo vision based algorithm for lunar rover autonomous navigation that can enable for precision localization. Our techniques mainly consist of image processing and motion estimation. To improve the performance of motion estimation, robust linear motion estimation is executed to reject the outliers of image processing and estimate the motion initially, then, Levenberg-Marquardt nonlinear estimation is executed to estimate the motion precisely. The result of our autonomous navigation algorithm is an estimation of attitude and position, which can be passed directly to path planning and motion control system

Keywords

aircraft navigation; attitude control; motion control; motion estimation; path planning; planetary rovers; position control; stereo image processing; Levenberg-Marquardt nonlinear estimation; attitude estimation; image processing; linear motion estimation; lunar rover autonomous navigation; motion control system; path planning; position estimation; precision localization; stereo vision; Computer vision; Cybernetics; Global Positioning System; Image processing; Machine learning; Moon; Motion detection; Motion estimation; Robustness; Sonar navigation; Space exploration; Stereo vision; Lunar rover; Notion estimation; Stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2006 International Conference on

Conference_Location

Dalian, China

Print_ISBN

1-4244-0061-9

Type

conf

DOI

10.1109/ICMLC.2006.258696

Filename

4028742