STEREO VISION BASED MOTION ESTIMATION FOR LUNAR ROVER NAVIGATION
Accurate navigation autonomously on uneven terrain is a very important technique for lunar rover to execute long-range exploration on lunar surface. This paper presents a stereo vision based algorithm for lunar rover autonomous navigation that can enable for precision localization. Our techniques mainly consist of image processing and motion estimation. To improve the performance of motion estimation,robust linear motion estimation is executed to reject the outliers of image processing and estimate the motion initially,then, Levenberg- Marquardt nonlinear estimation is executed to estimate the motion precisely. The result of our autonomous navigation algorithm is an estimation of attitude and position,which can be passed directly to path planning and motion control system.
Stereo vision Notion estimation Lunar rover
PING-YUAN CUI FU-ZHAN YUE HU-TAO CUI
Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150080, China
国际会议
2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)
大连
英文
3847-3852
2006-08-13（万方平台首次上网日期，不代表论文的发表时间）