Stereo vision for planetary rovers: stochastic modeling to near real-time implementation
International Journal of Computer Vision
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
A compact algorithm for rectification of stereo pairs
Machine Vision and Applications
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Mars Rover Autonomous Navigation
Autonomous Robots
Experience with rover navigation for lunar-like terrains
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
International Journal of Computer Vision
Dense 3D Reconstruction method using Coplanarities and Metric Constraints for Line Laser Scanning
3DIM '07 Proceedings of the Sixth International Conference on 3-D Digital Imaging and Modeling
| Hi-index | 0.00 |
According to analyze vision system of hazard cameras for lunar rover BH2 and characteristics of working environment, firstly, intrinsic and extrinsic parameters of camera are accurate calibrated and image distortion is corrected in this paper; Secondly, images are processed according to Bayer filter, image rectification, LoG filter, pyramid delaminating, photometric consistency dense matching; Finally, the paper can obtain high precision and dense disparity map. Furthermore, the paper uses three sets of experiment results on obstacle avoidance cameras vision system of lunar rover BH2 to validate the scheme. the experimental results show that the system possesses the features with less calculation amount, high reliability, robustness of illumination change and environmental noise, which can quickly and reliably achieve dense disparity map and meet the real-time avoid obstacle requirement of BH2.