| 深空探测巡视器视觉导航定位方法研究与地面试验场验证 |
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| 引用本文： | 岑文广,许雄,王国健,肖长江. 深空探测巡视器视觉导航定位方法研究与地面试验场验证[J]. 测绘通报, 2022, 0(10): 49-55. DOI: 10.13474/j.cnki.11-2246.2022.0293 |
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| 作者姓名： | 岑文广 许雄 王国健 肖长江 |
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| 作者单位： | 1. 同济大学测绘与地理信息学院, 上海 200092;2. 上海市航天测绘遥感与空间探测重点实验室, 上海 200092;3. 教育部自主智能无人系统前沿科学中心, 上海 201210 |
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| 基金项目： | 国家自然科学基金(41971299);上海市级科技重大专项(2021SHZDZX0100);上海市科学技术委员会科研计划(19511132101);中央高校基本科研业务费专项 |
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| 摘 要： | 地外天体表面巡视器就位探测是深空探测研究的重要手段,其自主导航定位能力是任务开展的重要前提。本文主要对视觉导航方法中的视觉同时定位与地图构建(SLAM)方案开展应用研究。介绍了当下经典的视觉SLAM框架,并以具有代表性的ORB-SLAM3算法为例开展研究;分别利用公开数据集、深空探测地面模拟场数据进行试验验证,探索视觉导航定位算法在深空探测场景下的有效性。本文研究为我国后续开展长距离连续巡视任务提供参考。
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| 关 键 词： | ORB-SLAM3 深空探测 视觉导航定位 SLAM 双目视觉 |
| 收稿时间： | 2021-11-22 |
Research and ground validation based on the visual positioning methods for rover in deep space exploration |
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| CEN Wenguang,XU Xiong,WANG Guojian,XIAO Changjiang. Research and ground validation based on the visual positioning methods for rover in deep space exploration[J]. Bulletin of Surveying and Mapping, 2022, 0(10): 49-55. DOI: 10.13474/j.cnki.11-2246.2022.0293 |
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| Authors: | CEN Wenguang XU Xiong WANG Guojian XIAO Changjiang |
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| Affiliation: | 1. College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China;2. Shanghai Key Laboratory for Planetary Mapping and Remote Sensing for Deep Space Exploration, Shanghai 200092, China;3. Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, China |
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| Abstract: | Rovers are commonly used in deep space exploration missions and it is important to develop the ability for autonomous navigation and positioning of rovers. In this paper, a typical visual simultaneous localization and mapping (SLAM) technique for navigation and positioning is studied. Firstly, the general visual-SLAM framework is summarized and the well-known ORB-SLAM3 method is introduced to evaluate its effectiveness for the deep space exploration missions. In addition to the public datasets, a simulated ground test field for extraterrestrial environment is built and the corresponding datasets are further used to validate the possible application for visual-SLAM methods in Lunar and deep space explorations. This study can help to expand the applications of the state of art SLAM methods and also support the following long-distance rover exploration tasks for China's missions. |
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| Keywords: | ORB-SLAM3 deep space exploration visual positioning SLAM stereo vision |
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