基于单应视差的月面着陆区离面测量及平坦性分析

文章针对月球探测器的软着陆,提出了基于由平面诱导的单应视差的月面着陆区离面距离测量及平坦性分析方法.对于特征点分布不均匀情况,采用邻近特征点内插方法在全图强制性近似均匀选择点云作为兴趣点,用基于极线约束和单应约束融合的方法匹配纹理不丰富的兴趣点.使用由平面诱导的单应视差计算兴趣点的离面距离,以离面距离的最大值、绝对值的...

Off-plane Measurement and Flatness Analysis of Moon Landing Region Based on Homography Parallax

Aiming at soft-landing of lunar probe,an algorithm for the off-plane distance measurement and flatness analysis of the Moon landing region based on homography parallax is proposed in this paper.Cloud points are compulsively and evenly selected as interesting points using adjacent feature points interpolation,and the interesting points whose texture is not abundant are matched using method based on fusion of epipolar constraint and homography constraint.The off-plane distances of interesting points are computed by homography parallax.The maximum value,the mean absolute value and the histogram of off-plane distances are used as flatness evaluation parameters in order to distinguish the spots which are not suitable for landing.The areas suitable for landing are determined by Delaunay method.The method presented in this paper is proved by experimental data able to distinguish the suitable landing areas from the unsuitable ones effectively.