星球漫游车立体视觉系统性能分析与设计

Performance analysis and design of stereo vision system for planetary rover

针对星球探测任务中星球漫游车自主避障和导航的要求,提出了星球漫游车立体视觉的系统结构和设计方法。在对实时响应、视场角、传感器分辨率和精度以及计算量等性能需求深入分析的基础上,给出了漫游车立体视觉系统的设计原理,建立一系列配置方程来描述重要的系统参数之间的关系。这些配置方程有助于设计师在系统设计初期对平衡系统性能进行综合考虑。

This paper proposes a method for the system configuration and design on the rover stereo vision system,being able to guarantee the safety of the rover by avoiding hazardous situation.The requirements have been analyzed in terms of real-time response,filed of view,the resolution and accuracy of sensors,and computation capability,and present principles for designing a stereo vision system for planetary rover.A series of configuration equations are presented that describe relationships between important system parameters,intending to improve the engineer＇s ability to make trade-off decisions early in the design process.