Navigation camera relative imaging measurement method based on double-system visual fusion

• Main Authors: MAO XIAONAN, JIANG LIHUI, SHI FENGYUAN, ZHAO YANG, QU WEIZHI
• Format: Patent
• Language: Chinese; English
• Published: 31.03.2023
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a navigation camera relative imaging measurement method based on double-system vision fusion, which is used for acquiring relative navigation information when a lunar rover autonomously runs on a lunar surface, and comprises the following steps of: acquiring lunar surface three-dimensional point cloud information and gray scale information by utilizing a visible light binocular stereoscopic vision passive imaging principle; the three-dimensional point cloud information of the lunar surface is obtained by using a TOF active light ranging principle; and fusing a TOF active light imaging system and a binocular visible light passive imaging system, and carrying out lunar surface depth recovery on a lunar surface texture loss or texture repetition region. The advantages of an active light imaging measurement system and a passive light imaging measurement system can be fused, and it is guaranteed that the lunar vehicle obtains the lunar surface depth and gray scale information stably and re