基于地面图像和卫星图像集成的火星车定位新方法-行星制图与遥感.PDF

Vol. 19 No.4 19 4 8 SPACECRAFT ENGINEERING 2010 7 邸凯昌 岳宗玉 刘召芹 ( , 100101) 提出了一种基于地面图像和卫星图像集成的火星车定位新 法, 该 法利用由导航 相机立体图像得到的火星表面的点云数据提取石块, 同时对高分辨率卫星图像局部灰度统计提取 石块, 通过地面和卫星图像中石块分布模式的匹配, 实现火星车在 卫星图像中的定位, 从而消除仅 利用地面传感器和影像定位产生的累计误差采用 NASA 勇气号火星车在多 个摄站获取的地面 图像以及HiRISE 卫星图像进行了实验验证, 结果表明这种 法在石块较多的地区能够取得很好 的自动定位结果, 定位误差小于HiRISE 卫星图像的一个像素( 0. 25 m) 火星车定位; 导航相机; HiRISE 卫星图像; 石块提取; 石块模式匹配 : V41 : A : 1 73-8748( 2010) 04-0008-09 A New Approach to MarsRover Localization Based on Integration of Ground and Orbital Images DI Kaichang YU E Zongyu LIU Zhaoqin ( Institute of Remote Sensing Applications, Chinese Academy of Sciences, Beijing 100101, China) Abstract: T his paper presents a new approach to rover localization based on integration of ground and orbital images. In this approach, rocks are extracted from 3-D point cloud data derived from the Navcam stereo images and are also extracted from high resolution orbital image through local image statistics; through matching the rock distribution patterns betw een the tw o kinds of images matching, the rover is localized in the orbital image, thus eliminating location error accumulation caused by only using ground sensors and images. T he effectiveness of the proposed approach is demonstrated through experiments using Navcam images from multiple sites of NA SA. s Spirit rover and a HiRISE orbital image. T he results show that it generates satisfactory results in rock- abundant regions w ith a precision of higher than one HiRISE pixel ( 0125 m) . ey words: rover localization; navigation ca