Visual terrain matching for a Mars rover
Visual terrain matching for a Mars rover
复制标题
火星探测器的视觉地形匹配
DOI：
10.1109/cvpr.1989.37891
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
D. Gennery
中科院分区：
文献类型：
--
作者：
D. Gennery
描述了一种匹配不等间距高度图的方法。这种方法在火星探测器中很有用，它试图通过将其立体视觉系统或激光测距仪的数据与火星轨道上的照相机获得的数据相匹配来精确估计其位置。通过适当的配准，可以使用改进后的位置合并两组数据。该方法充分利用了数据中包含的信息，包括协方差矩阵形式的精度估计和概率形式的可靠性估计。讨论了从立体视觉中提取这些信息的方法。地形匹配过程采用了从粗到精的策略，并包括自动编辑，以去除过度分歧的点。本文给出了一个使用实验车辆真实数据的例子
A method of matching unequally spaced height maps is described. This method would be useful in a Mars rover which tries to refine the estimate of its position by matching the data from its stereo vision system or laser rangefinder to data obtained from a camera orbiting Mars. The refined position can be used to merge the two sets of data with proper registration. The method is designed to make full use of the information contained in the data, including accuracy estimates in the form of covariance matrices and reliability estimates in the form of probabilities. Means of extracting this information from stereo vision are discussed. The terrain matching process uses a coarse-to-fine strategy, and it includes automatic editing to remove points with excessive disagreement. An example using real data from an experimental vehicle is presented.<<ETX>>