On 3D Reconstruction Technology of Lunar Lander Autonomous Soft Landing
Xianlin Huang · Journal of Astronautics · 2007
In order to make lunar lander autonomous safely landing on the moon,the terrain of landing region should be rebuilt,and the description of landing site terrain should be generated.A long base-line stereo vision 3D reconstruction method through motion is proposed.Aimed at the problems of long base-line stereo vision,a series of algorithms is designed to select and match feature points;estimate the relative rotation and translation between different positions;rectify stereo image pair;get the dense disparity image;perform 3D reconstruction method through disparity image,and generate the DEM(Digital Elevation Map) of landing region.According to the characteristic of lunar terrain,a software simulation test-bed is built,and on witch the algorithms are tested.The results of simulation show that this method can be used in 3D reconstruction of lunar terrain effectively.