Landing region mapping for teleoperation of Chang´e-3 rover

Author

Liu Zhaoqin ; Di Kaichang ; Wan Wenhui ; Peng Man ; Xu Bin ; Zhao Qiang ; Liu Bin ; Yu Tianyi ; Li Lichun ; Zhou Jianliang

Author_Institution

State Key Lab. of Remote Sensing Sci., Inst. of Remote Sensing & Digital Earth, Beijing, China

fYear

2014

Firstpage

2487

Lastpage

2492

Abstract

High precision topographic mapping of Chang´e-3 (CE-3) landing site can provide detailed terrain information to ensure the safety of the rover as well as to support scientific investigations. In this paper, high resolution sequence images of the landing site acquired by the lander´s descent camera and stereo images captured by the rover´s Navigation cameras (Navcam) are used to generate high-precision topographic products respectively. Furthermore, taking DOM of Chang´e-2(CE-2) as spatial reference, CE-2 CCD images, descent images and DEM, DOM generated from Navcam stereo images are co-registered into a uniform geospatial framework at the CE-3 landing site. Key technologies and the mapping products of this research have been used to support the surface operations of CE-3 mission.

Keywords

SLAM (robots); astronomical image processing; image registration; image sensors; image sequences; planetary remote sensing; planetary rovers; robot vision; stereo image processing; telerobotics; Chang´e-3 landing site; Chang´e-3 rover teleoperation; DOM; Navcam stereo images; descent camera; high precision topographic mapping; high resolution sequence image acquisition; landing region mapping; navigation cameras; rover safety; uniform geospatial framework; Cameras; Electronic mail; Intelligent control; Laboratories; Navigation; Remote sensing; Tin; Chang´e-3 mission; descent camera; landing site mapping; navigation camera;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7053113

Filename

7053113