摘要
提出了以着陆器为基站,采用立体视觉测量技术以及彩色图像分割的方法,进行跟踪测量的月面巡视探测器定位方法,能够对惯导系统加里程计的定位方法进行修正,减小月面巡视探测器的计算工作量。在定位方法的研究中,采用彩色图像分割方法,能够适应各种光照条件的影响,并且运算速度快,能够达到实时图像伺服控制的目的。通过月面巡视探测器上制作特征点及采用模式识别技术,提高了图像匹配概率。通过卡尔曼滤波技术,能够满足任意时刻的月面巡视探测器定位要求。
A new method of lunar rover＇s location with lunar lander stereo vision is presented. Lunar lander stereo cameras are used to track rover motion by color image segmentation and image servo technology. Some character points are made on the Rover combined with moment invariants identification technology which improve probability of matching characters points with image. In order to satisfy the need of Rover location at any time, A Kalman filter algorithm is used. The experiment results show that this method is precise and robustness and can compensate the accumulate error of gyro system and odometer in Rover location system.
出处
《公路交通科技》
CAS
CSCD
北大核心
2006年第8期154-159,共6页
Journal of Highway and Transportation Research and Development
