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

doi:10.11947/j.AGCS.2023.20210710

Abstract

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

CLC Number:

P227

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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