月球车巡视探测的双目视觉里程算法与实验研究

Binocular visual odometry algorithm and experimentation research for the lunar rover

月球车在月面巡视的移动距离测量是实现安全有效探测的重要保障.基于视觉里程计的定位方法是解决月面滑移,提高行驶里程推算精度的有效方法,对月球车实现高精度定位具有重要意义.本文对双目视觉里程算法的设计及实现技术进行了深入研究,并对基于不同特征提取算法的视觉里程定位方法进行了实验验证,通过与高精度全站仪数据比较,验证了算法的测量精度和有效性.

In this paper we introduce the design and implementation of a binocular stereo based visual odometry. The major modules of the implementation are illustrated thoroughly. Methods based on different feature detection and matching algorithms are compared with each other. By examining the experimental results with the ground truth data attained from Total Station, we show that our algorithms are efficient and effective.