行星无人探测车地形重构技术综述

A Review of Planet Rovers' Terrain Reconstruction

多个行星探测车已在月球和火星表面成功漫游,高分辨率、高精度的行星表面地形数据是行星无人探测车在行星表面行进和科学探测的基础,是行星无人探测车进行路径规划和安全避障的基本保证,对人类认识和开展月球及深空探测活动具有重大意义。对这一技术的研究现状展开综述,首先对过去在行星表面成功展开漫游的无人探测车及其地形重构技术方法进行简要介绍,包括3个月球车:Lunokhod 1、Lunokhod 2、玉兔号和4个火星车:旅居者号、勇气号、机遇号、好奇者号。其次对地形重构过程中的核心环节立体匹配的不同方法进行比较,分析了目前国内外应用于行星无人探测车地形重构的立体匹配算法及其特点。最后,对行星无人探测车地形重构研究存在的问题进行分析,提出了今后的研究重点及方向。

Several planet rovers have successfully done the exploration on the surface of the Moon and the Mars. High resolution and precision terrain data of a planet＇s surface is vitally important to the navigation system of the rovers, even for the whole exploration missions. This paper reviews the rovers sent to the universe in the past, including three Moon rovers （＇ Lunokhod 1 ＇ , ＇ Lunokhod 2＇ , ＇ Yutu＇ ） and four Mars rovers （＇ Sojourner＇ , ＇ Spirit＇ , ＇ Opportunity＇ , ＇ Curiosity＇ ）, and their terrain reconstruction methods. This paper also reviews the technology of stereo vision and its application in the study of terrain reconstruction. It also compares the characteristics of two methods of stereo match. In the end, this paper analyzes the problems of present studies in this field, providing some references and advice for future lunar or mars exploration.