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Alternative TitleA Stereo Rectification Algorithm for Planetary Rover Visual Navigation System
王怀超; 张学全; 李海丰
Source Publication宇航学报
Keyword行星车 视觉导航 立体校正 基础矩阵 极线几何
Other AbstractDuring the process of soft-landing for a planetary rover, the parameters of the video navigation system will be changed. There exists the problem about the increased difficulty for the re-calibration of the two cameras. Based on the common stereo rectification algorithm, a weak calibrated stereo rectification algorithm for the visual navigation system of the planetary rover is proposed in this paper. In this algorithm, the rectification matrix is calculated by corresponding points and parameters calibrated on the Earth; the rectification matrix is constrained to ensure that the projection is a homograph transformation whose projection point is the optical center; the computational complexity is reduced by reducing the number of the parameters. The rectification performance comparison experiments between our algorithm and the Euclidean Rectification algorithm have demonstrated the effectiveness of our proposed algorithm. The correction error and the correction distortion are both smaller, which meets the requirements about the vision system of the planetary rover. © 2017, Editorial Dept. of JA. All right reserved.
Indexed ByEI ; CSCD
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Document Type期刊论文
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GB/T 7714
王怀超,张学全,李海丰. 一种行星车视觉导航系统的立体校正算法[J]. 宇航学报,2017,38(2):159-165.
APA 王怀超,张学全,&李海丰.(2017).一种行星车视觉导航系统的立体校正算法.宇航学报,38(2),159-165.
MLA 王怀超,et al."一种行星车视觉导航系统的立体校正算法".宇航学报 38.2(2017):159-165.
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