Quick positioning method for probe car in satellite image

Abstract

The invention relates to a quick positioning method for a probe car in a satellite image, comprising the following steps of: 1) generating an orthoimage of a vertical angle of view from a probe car-centered ground stereo image of a horizontal view angle in a range of 360 degrees, wherein the ground stereo image is obtained by a stereo camera on the probe car; 2) extracting a SIFT key point from the generated orthoimage; 3) performing histogram stretching and low-pass filter denoising on the satellite image, then, extracting the SIFT key point from the processed satellite image; 4) matching the SIFT key point of the orthoimage with that of the satellite image; 5) rejecting a gross error through a RANSAC algorithm of a similarity transformation model; 6) calculating a similarity transformation coefficient according to the correct matched point left after rejecting the gross error, and then, calculating out the position of the probe car in the satellite image according to the positions of the similarity transformation model and the probe car in the orthoimage. The quick positioning method for the probe car in the satellite image implements the quick positioning of the probe car in the satellite image in an even environment without stones, and improves positioning speed and accuracy of positioning the probe car.

Description

technical field [0001] The invention relates to an automatic positioning method for a probe vehicle in the field of deep space exploration, in particular to a rapid positioning method for a probe vehicle on a satellite image in a flat environment without stones. Background technique [0002] The positioning of the rover (or robot) in the field of deep space exploration is crucial to the safe driving of the rover and the realization of scientific and engineering goals in deep space exploration missions. The existing commonly used navigation and positioning methods for rover mainly include dead reckoning, visual odometry and positioning methods based on beam adjustment. During the operation of the American Mars Spirit and Opportunity rovers, dead reckoning, visual odometry, and positioning methods based on beam adjustments have all been applied. The dead reckoning method based on the odometer and IMU (Inertial measurement unit, inertial measurement unit) will have a large err...

AI Technical Summary

Problems solved by technology

However, the landing area of ​​the Opportunity rover is mainly sand dunes and flat rock outcrops, the above method cannot be applied, and there is no automated method for combining satellite images and ground stereo images in such areas

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