|Table of Contents|

Stereo Matching Algorithm for Lunar Rover

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2008年02期
Page:
176-180
Research Field:
Publishing date:

Info

Title:
Stereo Matching Algorithm for Lunar Rover
Author(s):
HOU JianQI Nai-ming
School of Astronautics,Harbin Institute of Technology,Harbin 150001, China
Keywords:
lunar rover stereo vision feature-matching areamatching
PACS:
TP242
DOI:
-
Abstract:
A feature-assisted area-matching algorithm for lunar rover is brought forward based on the analysis of the stereo vision system and working surroundings of lunar rover.The matching is divided into feature-matching phase and area-matching phase.In feature-matching phase geometric constraints and multi-criterion matching strategy are used to build highly reliable edge matching results.Edge matching results are then filtered and utilized to assist area-matching and to reduce the amount of false matches occurring in texture-lacking areas in ordinary area-matching.The algorithm integrates the merits of feature-matching and area-matching and is capable of building dense disparity map with rather high accuracy.Experimental results indicate that the algorithm performs well when used in the matching of stereo image pair of outdoor terrain and satisfies the need of vision-based navigation for lunar rover.

References:

[1] K ro tkov E, H ebe rtM. M app ing and position ing for a prototype luna r rover [ A ] . Pro ceedings o f the 1995 IEEE Interna tiona l Con fe rence on Robo tics and Auto?? m ation[ C ]. Nagoy a: IEEE Press, 1995. 2 913 - 2 919.
[2] Go ldbe rg S B, M aim oneM W, M a tthies L. Stereo v i?? sion and rove r nav iga tion so ftw are fo r planeta ry exp lo?? ra tion[ A]. Proceedings o f the 2002 IEEE Ae rospace Con ference[ C]. B ig Sky: IEEE Press, 2002. 2 025 - 2 036.
[3] 丁震, 胡钟山, 唐振民, 等. 从二维图像中恢复距离 信息的体视匹配方法[ J] . 南京理工大学学报, 1996, 20( 5): 449- 452.
[4] M aure tte M. M ars rover autonom ous nav ig ation [ J]. Autonomous Robo ts, 2003, 14( 2 /3): 199- 208.
[5] Deen R, Lorre J. Seeing in three d imensions: co rre la?? tion and tr iangulation ofM ars exp lo ration rover im agery [ A ]. Proceed ings o f the 2005 IEEE Internationa l Conference on System s, M an and Cyberne tics [ C ]. H awa i:i IEEE Press, 2005. 911- 916.
[6] 钟声, 石青云, 程民德. 改进的基于小波变换的立 体视觉匹配方法[ J]. 软件学报, 1994, 5( 8): 1- 7.
[7] 游素亚, 柳健, 徐光佑. 利用视觉相位鉴别能力求 解立体视觉匹配[ J]. 电子学报, 1996, 24 ( 10) : 72 - 75.
[8] 贾云得, 徐一华, 刘万春, 等. 微型实时多目立体视 觉机的设计与实现[ J]. 电子学报, 2003, 31 ( 9 ): 1 334- 1 336.
[9] 贾云得, 吕宏静, 徐一华, 等. 星球漫游车超广角实 时立体视觉系统[ J]. 自动化学报. 2004, 30( 6): 986- 990.
[10] Lew M S, H uang T S, W ong K. Lea rning and feature se lection in stereo m atch ing [ J]. IEEE Trans on Pat?? tern Analysis andM ach ine Inte lligence, 1994, 16( 9): 869- 881. 180

Memo

Memo:
-
Last Update: 2008-04-30