Binocular multi-view self-calibration method based on celestial body surface image

Abstract

The invention relates to a binocular multi-view self-calibration method based on celestial body surface images, and belongs to the technical field of landing obstacle avoidance of extraterrestrial stars. A real-shot topographic image and ground binding parameters in the celestial body detection process are utilized, initial parameters are adopted to divide a matching area, the real-shot image is subjected to refined matching, then a linear plane correction equation is established, correction parameters of calibration parameters are obtained through calculation, and the ground binding parameters are corrected, so that the binocular / multi-target calibration parameters can be used for correctly matching real shot images to obtain a terrain three-dimensional reconstruction result, and subsequent obstacle avoidance and safe landing are effectively supported. Aiming at the problem that the binocular / multi-view camera installation relation changes in orbit, a reasonable combination algorithm is designed by using a natural scene, self-calibration can be rapidly carried out to solve the problem of precision reduction, and the engineering practical problem is solved.

Description

technical field [0001] The invention belongs to the technical field of landing and obstacle avoidance of extraterrestrial bodies, and relates to a binocular and multi-objective self-calibration method based on celestial body surface images. Background technique [0002] The use of large-baseline binocular / multi-eye in the process of landing and obstacle avoidance on extraterrestrial celestial bodies is a common solution for existing missions, but large-baseline binocular / multi-eye is easily affected by factors such as vibration and temperature during the mission, resulting in The installation relationship among them changes, resulting in the decrease of binocular / multi-eye 3D reconstruction accuracy or even failure, which will have a negative impact on the effective operation of the task. However, it is not possible to carry or use the ground calibration device for re-calibration during the mission in orbit, and can only use real-shot celestial images to correct the calibrat...

AI Technical Summary

Problems solved by technology

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to propose a binocular multi-eye self-calibration method based on celestial surface images, and to solve the problem that the binocular / multi-eye camera installation relationship changes on-orbit, using natural scenes Reasonably designed software and hardware combination algorithm can quickly perform self-calibration to solve the problem of accuracy drop and solve practical engineering problems

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