关键词: 月球车, 立体视觉, 导航, 图像匹配, 核线

Abstract:

This paper put forwards a matching algorithm for lunar rover vision system that will use double cameras to navigate.Firstly, the elements of interior and exterior orientations of cameras are calibrated, and then the original images are matched to epipolar images without vertical parallax by elements of exterior orientation between two stations, and then points on epipolar images are matched increasingly by correlation coefficient algorithm, and the matched points are checked by many rules. Secondly points are matched accurately by least square match algorithm. Finally, Delaunay triangulated network between matched points is established and the relation algorithm of overlap regions between epipolar images is obtained. Some experiments are performed by the method in the paper. The experiment results indicate that the method can finish matching pictures of lunar rover quickly and reliably.

Key words: lunar , rover,  , stereoscopic , vision,  , navigation,  , image , matching,  , epipolar , line