VISION BASED OBSTACLE DETECTION USING ROVER STEREO IMAGES

International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences

Peng, M.^1¹  Wang, Y.^1² 

[1] Beijing Institute of Control Engineering, Beijing, China^2;State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing, China^1

关键词: Obstacle detection;    Stereo camera;    Point cloud;    Image segmentation;    Rover;   

DOI  :  10.5194/isprs-archives-XLII-2-W13-1471-2019

学科分类：地球科学(综合)

来源: Copernicus Publications

【 摘 要 】

Vision based obstacle detection using stereo images is an essential way for hazard avoidance and path planning in planetary rover missions. However, due to light condition changes and topographic relief, only partial or sparse three-dimensional points may be derived by image matching and triangulation reconstruction, which is not sufficient for recognizing obstacles. In this paper, we developed a strategy to detect obstacles using rover stereo images by combining both image grayscale information and sparse 3D point information. Experiments were carried out using stereo images captured by navigation cameras mounted on the Yutu rover of Chang’e-3 mission. Moreover, how obstacle localization accuracy affected by the parameters are analysed and discussed.

【 授权许可】

CC BY