Self calibration of the stereo vision system of the Chang’e-3 lunar rover based on the bundle block adjustment

Zhang, Shuo; Liu, Shaochuang; Ma, Youqing; Chen, Qi; Ma, Hao; Yang, Huan

doi:10.1016/j.isprsjprs.2017.04.004

Cited by 15 publications

(13 citation statements)

References 20 publications

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“…When the stereo cameras are calibrated on the ground, the extrinsic parameters cannot remain unchanged due to the violent vibration during the flight of the rover. A self‐calibration method can obtain the accurate extrinsic parameters of the stereo cameras in orbit using, as control points, the solar cells and other features on the rover (Zhang et al, ).…”

Section: Methodsmentioning

confidence: 99%

“…Meanwhile, the rover pose from the IMU‐assisted VO technique and the rotation angles of the mast mechanism have not been fully utilised. In contrast to Zhang et al () and Qing et al (), the proposed method views the rotation angles of the mast mechanism and the rover pose from the IMU‐assisted VO technique as part of the observations (pseudo‐observations) for the stereo BA model. To improve the rover pose estimation accuracy, a more rational geometric constraint condition of the stereo cameras and the weighted matrix of the rover pose, as well as the matching image point, are involved.…”

Section: Introductionmentioning

confidence: 99%

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A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover

Liu

Sima

et al. 2020

The Photogrammetric Record

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Precise localisation of the Yutu-2 moon rover plays an important role in path planning, obstacle avoidance and navigating to target features. To provide highprecision localisation information, a stereo bundle adjustment method using the theory of the unit quaternions is presented for the first time. To improve the precision and robustness of the proposed method, the rover's pose, from a visual odometry technique assisted by an inertial measurement unit and the rotation angles of the mast mechanism, is viewed as a pseudo-observation. A reasonable weighting strategy and a rational geometric constraint condition of the stereo cameras is also invoked. Experimental results demonstrate that the proposed method provides more accurate localisation results than either a bundle adjustment alone or a weighted total least-squares method. The proposed method has been successfully used in Chang'e-4 mission operations. (a) Chang'e-4 lander (b) Yutu-2 rover FIG. 1. The Chang'e-4 probe. (a) An image taken by the Yutu-2 rover's Pancam camera of the lander. (b) An image taken by the lander's topographic camera of the rover.The Photogrammetric Record

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover

Liu

Sima

et al. 2020

The Photogrammetric Record

Self Cite

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“…In ref. [19], the authors proposed an integrated self-calibration method with two additional constraints. The first constraint was an error model of the mast mechanism, and the second constraint was an error model of the IMU.…”

Section: Related Workmentioning

confidence: 99%

A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment

Peng

et al. 2022

Robotica

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To set the sleeping mode for the Yutu-2 rover, a visual pose prediction algorithm including terrain reconstruction and pose estimation was first studied. The terrain reconstruction precision is affected by using only the stereo navigation camera (Navcam) images and the rotation angles of the mast. However, the hazard camera (Hazcam) pose is fixed, and an image network was constructed by linking all of the Navcam and Hazcam stereoimages. Then, the Navcam pose was refined based on a multiview block bundle adjustment. The experimental results show that the mean absolute errors of the check points in the proposed algorithm were 10.4 mm over the range of $\boldsymbol{L}$ from 2.0 to 6.1 m, and the proposed algorithm achieved good prediction results for the rover pose (the average differences of the values of the pitch angle and the roll angle were −0.19 degrees and 0.29 degrees, respectively). Under the support of the proposed algorithm, engineers have completed the remote setting of the sleeping mode for Yutu-2 successfully in the Chang’e-4 mission operations.

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“…The Hazcam uses fisheye lenses to provide a wide field of view (FOV) of the area starting from the front wheels of the rover. Before the probe launch, the intrinsic and structure parameters of both Navcam and Hazcam have been precisely calibrated [10][11][12].…”

Section: Datamentioning

confidence: 99%

Vision-Based Decision Support for Rover Path Planning in the Chang’e-4 Mission

et al. 2020

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In planetary rover missions, rover path planning is critical to ensure the safety and efficiency of the rover traverse and in situ explorations. In the Chang’e-4 (CE-4) mission, we have proposed and developed vision-based decision support methods comprising obstacle map generation and path evaluation for the rover. At each waypoint along the rover traverse, digital elevation model (DEM) is automatically generated, which is then used for obstacle map generation and path searching. For path evaluation, the searched path and the predicted wheel trajectories are projected onto the original images captured by different cameras to coincide with the real observation scenario. The proposed methods have been applied in the CE-4 mission to support teleoperation of the rover, and examples of multiple applications used in the mission are presented in this paper. Under the support of the proposed techniques, by the end of the 14th lunar day (3 February 2020), the rover has already travelled 367.25 meters on the far side of the Moon.

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Self calibration of the stereo vision system of the Chang’e-3 lunar rover based on the bundle block adjustment

Cited by 15 publications

References 20 publications

A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover

A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover

A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment

Vision-Based Decision Support for Rover Path Planning in the Chang’e-4 Mission

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