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Planetary surface navigation landmark matching method based on contour point set

A matching method and contour point technology, applied in the field of deep space detection, to achieve the effects of easy processing, high matching rate, and high accuracy of detector pose determination

Active Publication Date: 2021-06-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The algorithm is not suitable for images with fewer than three crater detections and images of other terrain features that are not craters

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  • Planetary surface navigation landmark matching method based on contour point set
  • Planetary surface navigation landmark matching method based on contour point set
  • Planetary surface navigation landmark matching method based on contour point set

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Embodiment Construction

[0060] In order to better illustrate the purpose and advantages of the present invention, the content of the invention will be further described below in conjunction with the accompanying drawings and examples.

[0061] In order to verify the feasibility of the present invention, use the deep space autonomous navigation and control the planetary surface sand table of the key laboratory of the Ministry of Industry and Information Technology, take pictures from different angles through the camera, and simulate the database map (such as image 3 ) and the image to be matched after affine transformation (such as figure 2 ).

[0062] The planetary surface navigation landmark matching method based on the outline point set disclosed in this embodiment, such as figure 1 As shown, the specific implementation steps are as follows:

[0063] Step 1: The probe uses the carried optical camera to take directional photos of the target area of ​​the sand table on the surface of the planet,...

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Abstract

The invention relates to a planetary surface navigation landmark matching method based on a contour point set, and belongs to the field of deep space exploration. According to the invention, the detector carries out navigation landmark edge detection and fitting on a planet surface image A and a database map B, and contour point set coordinates are obtained through navigation landmark fitting contour discretization. The similarity distance of the obtained discrete point set is calculated. Three pairs of navigation road signs with minimum numerical values in the point set similarity matrix are selected as effective matching road signs, and a homography transformation matrix is calculated; and affine transformation coordinates of the center coordinates of the navigation landmarks of the image to be matched is obtained through the homography transformation matrix, distance deviation is calculated by utilizing the center pixel coordinates of the navigation landmarks of the image, a matching distance matrix is constructed, and the navigation landmark with the minimum matching distance is searched as the matching landmark. According to the method, the matching applicable objects are wider, topographies such as meteorite craters, rocks and gullies in optical images can be matched at the same time, and the method is suitable for matching and tracking of sequence images and database maps.

Description

technical field [0001] The invention relates to a method for matching planetary surface navigation landmarks based on contour point sets, and is particularly suitable for matching sequence images in the deep space exploration and navigation process and matching landing images and databases, and belongs to the field of deep space exploration. Background technique [0002] Planetary exploration will be one of the core tasks of deep space exploration in the future, and the matching of planetary surface terrain features is one of the key technologies for optical autonomous navigation. The deep space exploration has a long voyage distance and long communication time, and the traditional ground-based measurement and control method has a large communication delay. In addition, the dynamic environment of deep space is complex, and the navigation mode based on ground remote control can no longer meet the needs of high-precision navigation. With the breakthrough and development of co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62G01C21/24
CPCG01C21/24G06V20/588G06V10/44G06F18/22
Inventor 朱圣英修义崔平远徐瑞梁子璇
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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