| 一种基于CAHVOR模型的导航相机标定方法 |
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| 引用本文： | 刘淑娟,陈建新,王立,李春艳.一种基于CAHVOR模型的导航相机标定方法[J].空间控制技术与应用,2011,37(3):53-57,62. |
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| 作者姓名： | 刘淑娟 陈建新 王立 李春艳 |
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| 作者单位： | 1. 北京控制工程研究所,北京,100190;空间智能控制技术重点实验室,北京,100190
2. 北京控制工程研究所,北京,100190 |
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| 摘 要： | 在月球车探测任务中,一般通过对相机采集到的图片进行三维重建分析获得路面情况信息,精确标定相机是这些工作的前提.相机标定要求算法简单且能满足高精度要求,CAHVOR相机标定方法经JPL实验验证并成功地应用于火星探测器（MER）任务中,该方法从矢量角度分析相机成像原理.分析该方法的标定原理和参数求解算法,对该方法进行数字仿真,验证算法精度.为了进一步分析标定精度和速度,通过试验对该算法与传统的摄影测量标定方法进行比较,结果显示CAHVOR方法可达到满意的标定精度要求,而且在标定算法速度方面具有快速的优点.
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| 关 键 词： | 月球车 相机标定 CAHVOR模型 导航相机 |
A CAHVOR Model Based Navigation Camera Calibration Method |
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| LIU Shujuan,CHEN Jianxin,WANG Li,LI Chunyan.A CAHVOR Model Based Navigation Camera Calibration Method[J].Aerospace Contrd and Application,2011,37(3):53-57,62. |
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| Authors: | LIU Shujuan CHEN Jianxin WANG Li LI Chunyan |
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| Institution: | LIU Shujuan1,2,CHEN Jianxin1,WANG Li1,LI Chunyan1,2(1.Beijing Institute of Control Engineering,Beijing 100190,China,2.Science and Technology on Space Intelligent Control Laboratory,China) |
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| Abstract: | In Lunar Rover's exploration mission,the terrain information is got by analyzing images taken from cameras to reconstruct 3D scene,and camera calibration is one of essential tasks for stereo vision.A calibration method for planetary rover should be accurate and effective.The CAHVOR model based calibration is a vector based way to process images,which had been testified by JPL robotics laboratory and used successfully in MER.The radical principle of CAHVOR's mathematical model and the algorithm to solve intr... |
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| Keywords: | lunar rover camera calibration CAHVOR model navigation camera |
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