Experimental research of precise terrain occlusion prediction algorithm based on image sequences of the Chang’E-4 lunar rover
Youqing Ma, Song PENG, Bo WEN, Yang Jia, Zhenrong Shen, Qi Chen, Shuo Zhang, Huan Ping Yang, Bing Sima, KaiWen WANG, Shaochuang Liu · Scientia Sinica Technologica · 2019
An accurate terrain occlusion prediction algorithm based on image sequences obtained by the Chang’E (CE-4) lunar rover stereo cameras is proposed. First, the proposed algorithm is briefly introduced. Next, the key procedures, including on-orbit camera calibration, high-precision camera pose estimation based on a loop-closed bundle block adjustment model, high-precision rover pose estimation, and automatic extraction of the skyline, are explained. Lastly, the conclusions are drawn based on the experimental results of China’s Chang’E-4 lunar rover. The proposed algorithm can achieve high accuracy and application stability in the occlusion prediction of the skyline.