Visual simultaneous localization and mapping (SLAM) provides mapping and self-localization results for a robot in an unknown environment based on visual sensors, that have the advantages of small volume, low power con...Visual simultaneous localization and mapping (SLAM) provides mapping and self-localization results for a robot in an unknown environment based on visual sensors, that have the advantages of small volume, low power consumption, and richness of information acquisition. Visual SLAM is essential and plays a significant role in supporting automated and intelligent applications of robots. This paper presents the key techniques of visual SLAM, summarizes the current research status, and analyses the new trends of visual SLAM research and development. Finally, specific applications of visual SLAM in restricted environments, including deep space and indoor scenarios, are discussed.展开更多
The Moderate Resolution Imaging Camera(MoRIC)onboard the orbiter of China’s Tianwen-1 Mars mission aims to map the surface of Mars globally and to explore its topography and geomorphology.This camera’s wide field of...The Moderate Resolution Imaging Camera(MoRIC)onboard the orbiter of China’s Tianwen-1 Mars mission aims to map the surface of Mars globally and to explore its topography and geomorphology.This camera’s wide field of view can be used to overlap adjacent images sufficiently for topographic reconstruction.This study aimed to assess the topographic mapping potential of MoRIC images via a systematic accuracy analysis of MoRIC stereo mapping based on theoretical calculation and experimental validation.Experimental analyses were conducted using digital elevation models(DEMs)based on MoRIC images covering the Zhurong rover landing area and Mars Chart 11 region.Comparisons between these DEMs and reference DEMs revealed that the elevation accuracy of the former was approximately one ground sampling distance of the MoRIC image,which is consistent with the theoretical accuracy.Based on these results,MoRIC can be used to effectively map the Martian surface via stereo photogrammetry.These results serve as a useful guideline for topographic mapping based on MoRIC images and their application in various streams of research.展开更多
This paper presents a brief overview of the geospatial technologies developed and applied in Chang’e-3 and Chang’e-4 lunar rover missions.Photogrammetric mapping techniques were used to produce topographic products ...This paper presents a brief overview of the geospatial technologies developed and applied in Chang’e-3 and Chang’e-4 lunar rover missions.Photogrammetric mapping techniques were used to produce topographic products of the landing site with meter level resolution using orbital images before landing,and to produce centimeter-resolution topographic products in near real-time after landing.Visual positioning techniques were used to determine the locations of the two landers using descent images and orbital basemaps immediately after landing.During surface operations,visual-positioning-based rover localization was performed routinely at each waypoint using Navcam images.The topographic analysis and rover localization results directly supported waypoint-to-waypoint path planning,science target selection and scientific investigations.A GIS-based digital cartography system was also developed to support rover teleoperation.展开更多
基金The National Key Research and Development Program of China (2016YFB0502102)The National Natural Science Foundation of China (41471388).
文摘Visual simultaneous localization and mapping (SLAM) provides mapping and self-localization results for a robot in an unknown environment based on visual sensors, that have the advantages of small volume, low power consumption, and richness of information acquisition. Visual SLAM is essential and plays a significant role in supporting automated and intelligent applications of robots. This paper presents the key techniques of visual SLAM, summarizes the current research status, and analyses the new trends of visual SLAM research and development. Finally, specific applications of visual SLAM in restricted environments, including deep space and indoor scenarios, are discussed.
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDB41000000)the National Key Research and Development Program of China(Grant No.2021YFA0716100)the National Natural Science Foundation of China(Grant Nos.42172265 and 41771488).
文摘The Moderate Resolution Imaging Camera(MoRIC)onboard the orbiter of China’s Tianwen-1 Mars mission aims to map the surface of Mars globally and to explore its topography and geomorphology.This camera’s wide field of view can be used to overlap adjacent images sufficiently for topographic reconstruction.This study aimed to assess the topographic mapping potential of MoRIC images via a systematic accuracy analysis of MoRIC stereo mapping based on theoretical calculation and experimental validation.Experimental analyses were conducted using digital elevation models(DEMs)based on MoRIC images covering the Zhurong rover landing area and Mars Chart 11 region.Comparisons between these DEMs and reference DEMs revealed that the elevation accuracy of the former was approximately one ground sampling distance of the MoRIC image,which is consistent with the theoretical accuracy.Based on these results,MoRIC can be used to effectively map the Martian surface via stereo photogrammetry.These results serve as a useful guideline for topographic mapping based on MoRIC images and their application in various streams of research.
基金This work was supported by the National Natural Science Foundation of China[grant number 41671458,41590851,41941003,and 41771488].
文摘This paper presents a brief overview of the geospatial technologies developed and applied in Chang’e-3 and Chang’e-4 lunar rover missions.Photogrammetric mapping techniques were used to produce topographic products of the landing site with meter level resolution using orbital images before landing,and to produce centimeter-resolution topographic products in near real-time after landing.Visual positioning techniques were used to determine the locations of the two landers using descent images and orbital basemaps immediately after landing.During surface operations,visual-positioning-based rover localization was performed routinely at each waypoint using Navcam images.The topographic analysis and rover localization results directly supported waypoint-to-waypoint path planning,science target selection and scientific investigations.A GIS-based digital cartography system was also developed to support rover teleoperation.
