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A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover / YouQing Ma in Photogrammetric record, vol 35 n° 169 (March 2020)  

Public [article]  inPhotogrammetric record > vol 35 n° 169 (March 2020) . - pp 10 - 39 Titre : A precise visual localisation method for the Chinese Chang’e‐4 Yutu‐2 rover Type de document : Article/Communication Auteurs : YouQing Ma, Auteur ; ShaoChuang Liu, Auteur ; Bing Sima, Auteur ; et al., Auteur Année de publication : 2020 Article en page(s) : pp 10 - 39 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Technologies spatiales [Termes IGN] compensation par faisceaux [Termes IGN] compensation par moindres carrés [Termes IGN] localisation basée vision [Termes IGN] Lune [Termes IGN] mission spatiale Résumé : (Auteur) 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. To improve the precision and robustness of the proposed method, the rover's pose, from a visual odometry technique assisted by an inertial measurement unit and the rotation angles of the mast mechanism, is viewed as a pseudo‐observation. A reasonable weighting strategy and a rational geometric constraint condition of the stereo cameras is also invoked. Experimental results demonstrate that the proposed method provides more accurate localisation results than either a bundle adjustment alone or a weighted total least‐squares method. The proposed method has been successfully used in Chang'e‐4 mission operations. Numéro de notice : A2020-130 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1111/phor.12309 Date de publication en ligne : 29/03/2020 En ligne : https://doi.org/10.1111/phor.12309 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94807 [article]