Calibration method for lunar rover binocular vision navigation system

Abstract

The invention relates to a calibration method for a lunar rover binocular vision navigation system, which is designed against the characteristics of the binocular vision navigation system and comprises the steps of utilizing a measurement system for measuring a calibration device containing a back light reflection measurement mark and an encoding mark, obtaining a control point coordinate, utilizing a camera to be calibrated to carry out photographing on the calibration device, and then adopting a collinearity equation for calibrating internal parameters of the camera to be calibrated and external parameters of the camera to be calibrated under a coordinate system of the calibration device; and utilizing a theodolite measurement system to be matched with the calibration device for calibrating the coordinate system of a prism square, and utilizing the relationship between the coordinate system of the prism square and the external parameters of the camera for calibrating the external parameters of the camera to be calibrated under the coordinate system of the prism square. The calibration method makes full use of known information of a large number of control points of the calibration device, and an industrial measurement system is matched, thereby improving the problem of low calibration precision of the external parameters of the traditional camera, realizing simple operation and high calibration precision, completing the calibration of the internal parameters of the camera to be calibrated and the relative external parameters, completing the calibration within a hour and greatly improving the working efficiency.

Description

technical field [0001] The invention relates to a calibration method for a binocular vision navigation system of a lunar rover, which is mainly used in the fields of digital photogrammetry, computer vision and the like. Background technique [0002] The binocular visual navigation system of the lunar rover is mainly composed of two digital cameras, a cubic mirror and a system bracket, such as figure 1 As shown, the cameras are fixed at both ends of the bracket, and the cubic mirror is fixed in the middle of the two cameras. The binocular visual navigation of the lunar rover mainly relies on two digital cameras to obtain external information at the same time, and then determine its own position, including visual measurement, terrain matching, path planning, etc. In the binocular vision navigation system, system comprehensive calibration is the key technology, and accurate calibration is the basis to ensure correct navigation. Therefore, the calibration accuracy of the binoc...

AI Technical Summary

Problems solved by technology

This calibration method is characterized by many undetermined coefficients and unclear meanings, and high-order quadratic equations are prone to produce fitting parameter oscillations. It is not suitable for close-range cameras (non-infinity target imaging) and dual cameras.

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