“祝融号”火星车立体视觉系统的几何自检校
“祝融号”是我国首个成功在火星表面开展巡视探测的火星车。为了确保火星车遥操作任务精准的实施，需要对立体视觉系统实施自检校。本文提出了附有立体约束和桅杆机构运动约束的联合平差自检校模型。经过模拟试验证明本文提出的自检校方法具有较高的视觉定位精度。在火星真实试验中，获得检核点中误差的平均值为12.3 mm。有效保障了“祝融号”火星车精准地完成遥操作任务。...
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| Veröffentlicht in: | Ce hui xue bao 2023-05, Vol.52 (5), p.780-788 |
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| creator | 张烁 温博 张建利 亓晨 彭松 刘少创 贾阳 鄢咏折 马友青 杨欢 李昊 吴运佳 谢婉蓉 |
| description | “祝融号”是我国首个成功在火星表面开展巡视探测的火星车。为了确保火星车遥操作任务精准的实施，需要对立体视觉系统实施自检校。本文提出了附有立体约束和桅杆机构运动约束的联合平差自检校模型。经过模拟试验证明本文提出的自检校方法具有较高的视觉定位精度。在火星真实试验中，获得检核点中误差的平均值为12.3 mm。有效保障了“祝融号”火星车精准地完成遥操作任务。 |
| doi_str_mv | 10.11947/j.AGCS.2023.20210710 |
| format | Article |
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| source | Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals |
| subjects | Calibration Constraint modelling Mars rovers Mars surface Self calibration Vision systems |
| title | “祝融号”火星车立体视觉系统的几何自检校 |
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