“祝融号”火星车立体视觉系统的几何自检校

doi:10.11947/j.AGCS.2023.20210710

测绘学报 ›› 2023, Vol. 52 ›› Issue (5): 780-788.doi: 10.11947/j.AGCS.2023.20210710

“祝融号”火星车立体视觉系统的几何自检校

张烁¹, 温博², 张建利², 亓晨³, 彭松², 刘少创¹, 贾阳², 鄢咏折¹, 马友青¹, 杨欢³, 李昊¹, 吴运佳¹, 谢婉蓉¹

1. 中国科学院空天信息创新研究院, 北京 100101;
2. 北京空间飞行器总体设计部, 北京 100094;
3. 武汉大学测绘学院, 湖北武汉 430079

收稿日期:2021-12-27 修回日期:2022-07-08 发布日期:2023-05-27
通讯作者: 刘少创 E-mail:liusc@aircas.ac.cn
作者简介:张烁(1985-),男,博士,研究方向为空间机器人视觉信息处理。E-mail:zhangshuo@aircas.ac.cn

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

ZHANG Shuo¹, WEN Bo², ZHANG Jianli², QI Chen³, PENG Song², LIU Shaochuang¹, JIA Yang², YAN Yongzhe¹, MA Youqing¹, YANG Huan³, LI Hao¹, WU Yunjia¹, XIE Wanrong¹

1. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100101, China;
2. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China;
3. School of Geodesy and Geomatics, Wuhan University, Wuhan 43079, China

Received:2021-12-27 Revised:2022-07-08 Published:2023-05-27

摘要/Abstract

摘要： 祝融号是我国首个成功在火星表面开展巡视探测的火星车。为了确保火星车遥操作任务精准的实施,需要对立体视觉系统实施自检校。本文提出了附有立体约束和桅杆机构运动约束的联合平差自检校模型。经过模拟试验证明本文提出的自检校方法具有较高的视觉定位精度。在火星真实试验中,获得检核点中误差的平均值为12.3 mm。有效保障了"祝融号"火星车精准地完成遥操作任务。

关键词: 祝融号, 自检校, 立体视觉, 桅杆机构运动约束, 联合平差

Abstract: 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.

Key words: Zhurong rover, self-calibration, stereo vision, mast mechanism motion constraint, combined adjustment

中图分类号:

P227

张烁, 温博, 张建利, 亓晨, 彭松, 刘少创, 贾阳, 鄢咏折, 马友青, 杨欢, 李昊, 吴运佳, 谢婉蓉. “祝融号”火星车立体视觉系统的几何自检校[J]. 测绘学报, 2023, 52(5): 780-788.

ZHANG Shuo, WEN Bo, ZHANG Jianli, QI Chen, PENG Song, LIU Shaochuang, JIA Yang, YAN Yongzhe, MA Youqing, YANG Huan, LI Hao, WU Yunjia, XIE Wanrong. Self-calibration of Zhurong Mars rover's stereo vision system[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(5): 780-788.

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“祝融号”火星车立体视觉系统的几何自检校

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

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