In:
Photogrammetric Engineering & Remote Sensing, American Society for Photogrammetry and Remote Sensing, Vol. 87, No. 8 ( 2021-08-01), p. 567-576
Abstract:
In a planetary-rover exploration mission, stereovision-based 3D reconstruction has been widely applied to topographic mapping of the planetary surface using stereo cameras onboard the rover. In this study, we propose an enhanced topographic mapping method based on multiple stereo images
taken at the same rover location with changing illumination conditions. Key steps of the method include dense matching of stereo images, 3D point-cloud generation, point-cloud co-registration, and fusion. The final point cloud has more complete coverage and more details of the terrain than that conventionally generated from a single stereo pair. The effectiveness of the proposed method is verified by experiments using the Yutu-2 rover, in which two data sets were acquired by the navigation cameras at two locations and under changing illumination conditions. This method, which
does not involve complex operations, has great potential for application in planetary-rover and lander missions.
Type of Medium:
Online Resource
ISSN:
0099-1112
DOI:
10.14358/PERS.87.8.567
Language:
English
Publisher:
American Society for Photogrammetry and Remote Sensing
Publication Date:
2021
detail.hit.zdb_id:
2317128-5
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