An epipolar relaxation constrained matching algorithm of large-affined images for lunar rover with large span distance in a single movement

Chuankai LIU; Zhaoxiang WANG; Junxiong LEI; Zuoyu ZHANG; Kuangang FAN; Jitao ZHANG; Xiaoxue WANG; Hailang PAN; Jianguo LIU

doi:10.7527/S1000-6893.2023.28659

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2024 , Vol. 45 >Issue 2: 328659 - 328659

DOI: https://doi.org/10.7527/S1000-6893.2023.28659

Electronics and Electrical Engineering and Control

An epipolar relaxation constrained matching algorithm of large-affined images for lunar rover with large span distance in a single movement

Chuankai LIU ,
Zhaoxiang WANG ,
Junxiong LEI ,
Zuoyu ZHANG ,
Kuangang FAN ,
Jitao ZHANG ,
Xiaoxue WANG ,
Hailang PAN ,
Jianguo LIU

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^1.School of Electrical Engineering and Automation，Jiangxi University of Science and Technology，Ganzhou 　341000，China
^2.Beijing Aerospace Control Center，Beijing 　100194，China
^3.The Key Laboratory of Science and Technology on Aerospace Flight Dynamics，Beijing 　100194，China
^4.School of Electronic and Optical Engineering，Nanjing University of Science and Technology，Nanjing 　210094，China
^5.Department of Earth Science and Engineering，Imperial College London，London　SW7 2AZ，United Kingdom

E-mail： ckliu2005@126.com

Received date: 2023-03-07

Revised date: 2023-04-06

Accepted date: 2023-06-01

Online published: 2023-06-09

Supported by

National Natural Science Foundation of China(61972020);Foundation of Laboratory(6142210200307)

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Abstract

In the process of lunar surface exploration， Yutu-2 adopts a widely spaced travel mode and takes photos of the lunar surface from a tilted perspective， resulting in a small overlap area of the lunar surface images taken between neighboring sites， and large differences in scale and rotation. In addition， due to the complex image affine transformation between sites， high texture similarity and inconsistent illumination conditions， it is easy to make errors by matching only local apparent features of images. To address the above problems， this paper proposes an image matching algorithm based on the bi-directional relaxation polar line constraint. Firstly， the approximate relative poses between stations measured by inertial guidance are introduced into the projection transform of imaging beam， and the polar line equation corresponding to the feature points of one station image in another station image is calculated. Secondly， the bi-directional polar line relaxation constraint range in the front and back station images is estimated based on the station error range， and a set of matching candidates limited within the relaxation constraint range is constructed. Then， the FLANN algorithm is used to select the feature pairs that satisfy the bi-directional relaxation constraint and have high similarity. Finally， the RANSAC algorithm is used to further reject the wrong matching points and obtain the final set of matching points. The experiments show that when dealing with the problem of inter-site large scale and rotationally transformed lunar surface image matching， the proposed algorithm can retain as many correct matching points as possible， greatly improve the correct matching rate and eliminate invalid matching points， and has a significant improvement in effect compared with ASIFT and other algorithms.

Key words： lunar surface detection; lunar surface image; affine transformation; bilateral relaxation epipolar constraint; image registration

Cite this article

Chuankai LIU , Zhaoxiang WANG , Junxiong LEI , Zuoyu ZHANG , Kuangang FAN , Jitao ZHANG , Xiaoxue WANG , Hailang PAN , Jianguo LIU . An epipolar relaxation constrained matching algorithm of large-affined images for lunar rover with large span distance in a single movement[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(2) : 328659 -328659 . DOI: 10.7527/S1000-6893.2023.28659

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