Homography-based visual measurement of wheel sinkage for a lunar rover

被引：0
|
作者：
Wang L. [1 ]
Dai X.-B. [1 ]
Ju H.-H. [1 ]
机构：
[1] College of Electronic Information and Control Engineering, Beijing University of Technology
来源：
Yuhang Xuebao/Journal of Astronautics | 2011年 / 32卷 / 08期
关键词：
Homography; Lunar rover; Visual measurement; Wheel sinkage;
D O I：
10.3873/j.issn.1000-1328.2011.08.008
中图分类号：
学科分类号：
摘要：
The wheel sinkage greatly affects the mobility and localization accuracy of a lunar rover in deformable lunar terrains. To overcome the deficiency of existing methods, a novel vision-based method is presented to measure the sinkage. Firstly it is proved that there are system errors in the existing methods. Then the homography between the wheel plane in 3D space and the image plane of a mounted camera is introduced, and the wheel sinkage information detected by image processing techniques are transformed from the image plane into the wheel plane. Finally the wheel sinkage is computed in the wheel plane. Contact points can be rapidly and robustly detected in the image by narrowing the interesting area and introducing a one-dimensional space filter. The proposed method can eliminate system errors introduced by existing methods. Results of experiments show its validity and feasibility.
引用
收藏
页码：1701 / 1707
页数：6
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