A calibration method for navigation cameras' parameters of planetary detector after landing

doi:10.11947/j.AGCS.2022.20200533

Abstract

Abstract: The navigation cameras of rover have been calibrated on the earth before launch, but it's a long flight before the rover arrives at another planet to work, during which the external force may cause the cameras' parameters to change. So, it is necessary to recalibrate the navigation binocular cameras after landing. This paper introduces a calibration method based on the solar panel as the calibration plate, which extracts the grid lines of the solar panel by Hough transform, the idea of clustering and least square line fitting method, and then recalibrates the external parameters of navigation binocular cameras according to the lines' parameters. At last, two experiments are carried out. In Experiment 1, the grid line extraction experiment is carried out with Chang'e 4 image, and the extraction method in this paper is more accurate compared with the traditional Hough transform line extraction results; In Experiment 2, the external parameters of binocular camera are calibrated with simulated linear parameters. The results show that the solution accuracy is high, and the method is feasible and effective. However, this camera calibration method takes the camera internal parameters as known values, and solves the external parameters of the left and right cameras separately. In the next step, we will continue to study the method of simultaneous calibration of camera internal and external parameters, and the method of one-step calibration of binocular camera.

Key words: binocular camera calibration, Hough transform, clustering, least square, line fitting

CLC Number:

P237

YAN Yongzhe, PENG Song, MA Youqing, ZHANG Shuo, QI Chen, WEN Bo, Li Hao, JIA Yang, LIU Shaochuang. A calibration method for navigation cameras' parameters of planetary detector after landing[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(3): 437-445.

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