A Vision-Based Lunar Rover Localization Method in Sandy Environment

Abstract

The invention discloses a vision-based lunar rover positioning method in a sandy environment, which comprises the following steps: extracting and enhancing characteristic points; matching and tracking the characteristic points; and carrying out motion estimation. Through the above steps, the change of the position and direction of the lunar rover can be acquired. The positioning algorithm disclosed by the invention avoids the problems that characteristic points on the lunar terrain in a sandy environment are sparse and are not robust enough, ensures the quantity and quality of the characteristic points extracted in the sandy environment, and improves the motion estimation accuracy; from the perspectives of dimensionality reduction, reasonable selection of search windows, estimation of search directions and the like, the vision-based lunar rover positioning method improves the characteristic matching and tracking efficiency; and by using a method based on RANSAC (RANdom SAmple Consensus), the vision-based lunar rover positioning method can effectively solve the non-convergence problem caused by too much error data and improve the robustness of a mileometer with respect to the non-convergence problem.

Description

technical field [0001] The invention belongs to the technical field of pattern recognition and artificial intelligence, and relates to a vision-based positioning method for a lunar rover, in particular to a vision-based positioning method for a lunar rover in a sandy environment. Background technique [0002] The vision-based lunar rover positioning method is an autonomous navigation technology commonly used on lunar rover for exploration in the lunar environment. Its technical point is to estimate the motion of the vehicle body by tracking the feature points in the image, which relies on visual input information. , is not affected by factors such as slipping, tilting, and subsidence, and has high relative positioning accuracy and statistical results of patrol mileage in the soft alien environment, complementing each other with wheel odometer and inertial navigation information to improve the driving performance of the lunar rover. Safety and passability have achieved the pu...

AI Technical Summary

Problems solved by technology

In the lunar surface environment, although the vision-based lunar rover positioning theory has been basically perfected, due to the lack of characteristic points on the sandy ground, the vision-based lunar rover positioning theory still has the following defects: environment, it is difficult to ensure that enough feature points can be found for tracking. Due to the limitation of computer processing power, it is impossible to reduce the search space through frequent updates like the odometer used on the ground. It is necessary to study more robust to feature point position changes. Feature tracking algorithm, need to improve robustness of odometry to non-convergence problem

Images