A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover

Precise localisation of the Yutu‐2 moon rover plays an important role in path planning, obstacle avoidance and navigating to target features. To provide high‐precision localisation information, a stereo bundle adjustment method using the theory of the unit quaternions is presented for the first time...

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Veröffentlicht in:	Photogrammetric record 2020-03, Vol.35 (169), p.10-39
Hauptverfasser:	Ma, YouQing, Liu, ShaoChuang, Sima, Bing, Wen, Bo, Peng, Song, Jia, Yang
Format:	Artikel
Sprache:	eng
Schlagworte:	Angles (geometry) Bundle adjustment Cameras Chang'e‐4 Compensation Geography, Physical Geology Geometric constraints Geosciences, Multidisciplinary Imaging Science & Photographic Technology Inertial platforms Localization method Lunar exploration Navigation Observational weighting Obstacle avoidance Odometers Path planning Physical Geography Physical Sciences pseudo‐observation Quaternions Remote Sensing Rotation Science & Technology SLAM Space missions Technology unit quaternions visual localisation Yutu‐2 rover
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