Self-calibration of Zhurong Mars rover's stereo vision system

被引：0

作者：

Zhang S. ^{[1
]}

Wen B. ^{[2
]}

Zhang J. ^{[2
]}

Qi C. ^{[3
]}

Peng S. ^{[2
]}

Liu S. ^{[1
]}

Jia Y. ^{[2
]}

Yan Y. ^{[1
]}

Ma Y. ^{[1
]}

Yang H. ^{[3
]}

Li H. ^{[1
]}

Wu Y. ^{[1
]}

Xie W. ^{[1
]}

机构：

[1] Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing

[2] Beijing Institute of Spacecraft System Engineering, Beijing

[3] School of Geodesy and Geomatics, Wuhan University, Wuhan

来源：

Cehui Xuebao/Acta Geodaetica et Cartographica Sinica | 2023年 / 52卷 / 05期

关键词：

combined adjustment; mast mechanism motion constraint; self-calibration; stereo vision; Zhurong rover;

D O I：

10.11947/j.AGCS.2023.20210710

中图分类号：

学科分类号：

摘要：

Zhurong is the first rover of China to detect the Martian surface successfully. It is necessary to carry out self-calibration of the stereo vision system in order to ensure the accurate implementation of the teleoperation mission of Zhurong Rover. The combined adjustment self-calibration model with stereo constraint and mast mechanism motion constraint is proposed. Simulated experiments show that the proposed method has high visual positioning accuracy. In real experiments on Mars, the average error in the obtained check points is 12.3 mm. This effectively ensures the accurate completion of the teleoperation mission of the Zhurong rover. © 2023 SinoMaps Press. All rights reserved.

引用

页码：780 / 788

页数：8

共 28 条

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