A method for detecting and extracting the centerline of a lunar rover track

Abstract

A method for detecting and extracting centerlines of ruts on a lunar rover is disclosed. This invention belongs to the field of robot environmental perception, specifically relating to a method for detecting and extracting centerlines of ruts on a lunar rover, used to extract centerline features from rut images generated during the rover's movement. The purpose of this invention is to solve the problem that existing line feature extraction methods are prone to problems such as broken lines, false detections, and redundant line segments under conditions of weak texture, high noise, and uneven illumination on the lunar surface, making it difficult to accurately extract continuous and complete rut centerlines. The process is as follows: 1. Acquire lunar rut images and perform adaptive illumination enhancement processing; 2. Perform edge detection; 3. Form rut edge lines; 4. Output complete left and right edge line sets of ruts; 5. Fit a smooth and continuous rut ​​centerline; 6. Perform temporal consistency optimization on the fitted smooth and continuous rut ​​centerline to obtain a temporally consistent optimized smooth and continuous rut ​​centerline.

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