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月球车在月面巡视的移动距离测量是实现安全有效探测的重要保障.基于视觉里程计的定位方法是解决月面滑移,提高行驶里程推算精度的有效方法,对月球车实现高精度定位具有重要意义.本文对双目视觉里程算法的设计及实现技术进行了深入研究,并对基于不同特征提取算法的视觉里程定位方法进行了实验验证,通过与高精度全站仪数据比较,验证了算法的测量精度和有效性.
The lunar rover moving distance measurement on lunar surface is an important guarantee to achieve safe and effective detection.Positioning method based on visual odometer is an effective method to solve the problem of lunar slip and improve the accuracy of driving range estimation, It is significant to design and realize the technology of binocular vision mileage algorithm.At the same time, the visual milestone localization method based on different feature extraction algorithm is verified by experiments, and compared with the data of high-precision total station, the algorithm is verified The measurement accuracy and effectiveness.