Ego-motion estimation of lunar rover based on vision sequence images

Fu Zhan Yue*, Ping Yuan Cui, Hu Tao Cui

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

Lunar environment information that coming from lunar rover stereo vision system is a very important source for lunar rover. This paper presents an motion estimation algorithm that will enable lunar rover travels in unstructured lunar environment autonomously, our techniques are based on the stereo vision sequence images, firstly, matched-features aggregate are build by image processing step such as feature detection, feature tracking and feature matching, next, robust motion estimation is executed to estimate the motion initially and reject the outliers, and then, Levenberg-Marquardt nonlinear estimation is executed to estimate the motion precisely, the output of our algorithm is motion parameters (attitude and localization) of lunar rover, finally we testified its validity by simulation.

Original languageEnglish
Pages (from-to)3033-3037
Number of pages5
JournalXitong Fangzhen Xuebao / Journal of System Simulation
Volume19
Issue number13
Publication statusPublished - 5 Jul 2007
Externally publishedYes

Keywords

  • Ego-motion estimation
  • Levenberg-Marquardt
  • Lunar rover
  • Stereo vision

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