INTEGRATING DEPTH AND IMAGE SEQUENCES FOR PLANETARY ROVER MAPPING USING RGB-D SENSOR
RGB-D camera allows the capture of depth and color information at high data rates,and this makes it possible and beneficial integrate depth and image sequences for planetary rover mapping.The proposed mapping method consists of three steps.First,the strict projection relationship among 3D space,depth data and visual texture data is established based on the imaging principle of RGB-D camera,then,an extended bundle adjustment(BA)based SLAM method with integrated 2D and 3D measurements is applied to the image network for high-precision pose estimation.Next,as the interior and exterior elements of RGB images sequence are available,dense matching is completed with the CMPMVS tool.Finally,according to the registration parameters after ICP,the 3D scene from RGB images can be registered to the 3D scene from depth images well,and the fused point cloud can be obtained.Experiment was performed in an outdoor field to simulate the lunar surface.The experimental results demonstrated the feasibility of the proposed method.
RGB-D camera Depth Planetary Rover Mapping Bundle Adjustment Point Cloud
M.Peng W.Wan Y.Xing Y.Wang Z.Liu K.Di Q.Zhao B.Teng X.Mao
State Key Laboratory of Remote Sensing Science,Institute of Remote Sensing and Digital Earth,Chinese Beijing Institute of Control Engineering,Beijing,China Huawei Technologies Co.Ltd,Beijing,China
国际会议
北京
英文
1369-1374
2018-05-07（万方平台首次上网日期，不代表论文的发表时间）