Abstract
According to analyze vision system of hazard cameras for lunar rover BH2 and characteristics of working environment, firstly, intrinsic and extrinsic parameters of camera are accurate calibrated and image distortion is corrected in this paper; Secondly, images are processed according to Bayer filter, image rectification, LoG filter, pyramid delaminating, photometric consistency dense matching; Finally, the paper can obtain high precision and dense disparity map. Furthermore, the paper uses three sets of experiment results on obstacle avoidance cameras vision system of lunar rover BH2 to validate the scheme. the experimental results show that the system possesses the features with less calculation amount, high reliability, robustness of illumination change and environmental noise, which can quickly and reliably achieve dense disparity map and meet the real-time avoid obstacle requirement of BH2.
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Wang, G., Ju, H., Feng, H. (2009). A Vision System of Hazard Cameras for Lunar Rover BH2. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_18
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DOI: https://doi.org/10.1007/978-3-642-10817-4_18
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