Self-Calibration of the Stereo Vision System of the Chang'e-4 Lunar Rover Based on the Points and Lines Combined Adjustment

Zhang, Shuo; Yang, Jia; Peng, Song; Wen, Bo; Ma, Youqing; Chen, Qi; Sima, Bing; Liu, Shaochuang

doi:10.14358/pers.86.3.169

Cited by 7 publications

(2 citation statements)

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“…Based on the automatic matching of pixels, the third step is followed subsequently. According to the stereo vision 3D reconstruction method (Zhang et al, 2017;Zhang et al, 2020;Zhang et al, 2022), the 3D coordinates (X, Y, and Z) in the CamB coordinate system of each pixel with the corresponding root mean square error are calculated. To ensure the accuracy of the calculation, the pixel coordinates whose root mean square errors are larger than 1.0 mm were deleted and replaced based on the interpolation method.…”

Section: Methodsmentioning

confidence: 99%

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

Sun,

Li,

et al. 2024

Front. Astron. Space Sci.

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The rock characteristic and size–frequency distribution (SFD) on Mars are important for understanding the geologic and geomorphic history of the surface, for evaluating the trafficability of roving, and for planning the potential infrastructure construction. Tianwen-1, China’s first autonomous Mars exploration mission, formed an excavated depression during touchdown, which has been the deepest depression on the Martian surface so far compared with others. According to the images captured using the Navigation and Terrain Cameras (NaTeCams) onboard the rover, Zhurong, the SFD of rocks is calculated and compared inside the excavated depression, within and out of the blast zone. For the first time, the rock size distribution inside the excavated depression is obtained, exposing the geological features of the shallow subsurface on Mars at a depth of tens of centimeters, which will surely be important for future drilling missions. It is found that the rock abundance in the depression is smaller than the original abundance on the surface, and the distribution of rocks in the blast zone on the surface is greatly influenced by the touchdown. In addition, based on the fractal dimension of rock sizes, the rocks (>10 mm) at the shallow subsurface of the Zhurong landing site may experience two different geological processes.

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Section: Methodsmentioning

confidence: 99%

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

Sun,

Li,

et al. 2024

Front. Astron. Space Sci.

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“…The pixel count of the stereo Hazcams is also 1024 × 1024 pixels with an FOV of almost 180 degrees, a stereo base of 10 cm and a focal length of 7.28 mm. The intrinsic and extrinsic (inner and exterior orientation) parameters of these stereo cameras can be acquired by using a self-calibrating bundle adjustment (SCBA) [24] model with control points on the earth.…”

Section: Topographic Mapping Capability Analysis Of the Navcam And Ha...mentioning

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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External Parameter Recalibration of the Binocular Cameras Onboard the Chang’e-4 Lunar Rover

Yan

et al. 2022

PFG

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Self-Calibration of the Stereo Vision System of the Chang'e-4 Lunar Rover Based on the Points and Lines Combined Adjustment

Cited by 7 publications

References 0 publications

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

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

External Parameter Recalibration of the Binocular Cameras Onboard the Chang’e-4 Lunar Rover

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