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General information |
| Author |
Li, Linhui; Lian, Jing; Guo, Lie; Wang, Rongben |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Visual odometry provides planetary
exploration rovers with accurate knowledge of their
position and orientation, which needs effective feature
tracking results, especially in barren sandy terrains. In
this paper, a stereovision based odometry algorithm is
proposed for a lunar rover, which is composed of
corner extraction, feature tracking and motion
estimation. First, a morphology based image
enhancement method is studied to guarantee enough
corners are extracted. Second, a Random Sample
Consensus (RANSAC) algorithm is proposed to make a
robust estimation of the fundamental matrix, which is
the basic and critical part of feature matching and
tracking. Then, the 6 degrees of freedom rover position
and orientation is estimated by the RANSAC
algorithm. Finally, experiments are performed in a
simulated lunar surface environment using a
prototype rover, which have confirmed
the feasibility and effectiveness of the proposed
method. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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