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A stereo mapping system developed for a prototype lunar rover is presented in the paper. All the components, including camera calibration, image rectification, stereo matching and reconstruction, are implemented to build a model of the natural terrain. For camera calibration, an iterative calibration algorithm that accounts for both radial and tangential distortion is presented. In each step a closed-...
A geometry constraint applicable to natural terrain is derived based on the analysis of lunar surface. With this constraint a multi-stage stereo matching algorithm is presented to provide the fairly accurate and dense disparity map needed for lunar rover autonomous navigation. Points with larger intensity gradient are matched with a multi-feature matching strategy in earlier stages. Then the information...
The goal of designing stereo matching algorithms for lunar rover navigation on natural terrain is to produce disparity maps with both denseness and accuracy. We present a multi-stage matching algorithm in which matching results of points with larger gradient in earlier stages are used to assist in matching of points with smaller gradient in later stages for the purpose of improving matching accuracy...
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