Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Harbin Engineering University》 2007-01
Add to Favorite Get Latest Update

Vision navigation based on lunar terrain matching

JIE Ming,HUANG Xian-lin(College of Astronautics,Harbin Institute of Technology,Harbin 150001,China)  
Aimed at accomplishing lunar lander's precise navigation task during the entry,descent and landing(EDL) phases,a lunar terrain matching based vision navigation method of alunar lander is proposed.During the descent phase of the lander,there exits large rotation and scale change between the images of lunar surface captured by a CCD camera mounted on the lander and the image database.The scale invariant feature transform(SIFT)method is used to select features of lunar terrain and match them in the image database,which overcomes the problem of matching images with large rotation and scale change.Finally,by using the geography information of the matched feature,absolute attitude and position in geography coordinates can be estimated by 2D/3D pose estimation.The results of simulation show that this vision navigation method is effective and can be used in the EDL navigation task.
【Fund】: 国家自然科学基金资助项目(60475027)
【CateGory Index】: TP24
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved