| 月球车视觉系统立体匹配算法 |
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| 引用本文： | 曹凤萍,王荣本. 月球车视觉系统立体匹配算法[J]. 吉林大学学报(工学版), 2011, 41(1): 24-0028 |
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| 作者姓名： | 曹凤萍 王荣本 |
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| 作者单位： | 吉林大学交通学院,长春,130022 |
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| 基金项目： | 国家自然科学基金项目(50675086) |
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| 摘 要： | 为了满足月球车视觉系统实时性和可靠性的要求,提出了一种基于点和边缘特征提取的立体匹配算法.首先采用高斯滤波和有限对比适应性直方均衡化(CLAHE)方法对校正后的立体图像对进行预处理,以削弱噪声和对比度的影响.其次研究了图像的SIFT特征点和边缘特征提取和匹配方法,以获得月球车周围的环境概貌和障碍物信息.最后将匹配成功的...
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| 关 键 词： | 交通运输系统工程 月球车 立体视觉 特征匹配 三维重构 |
| 收稿时间： | 2010-01-03 |
Stereo matching algorithm for lunar rover vision system |
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| CAO Feng-ping,WANG Rong-ben. Stereo matching algorithm for lunar rover vision system[J]. Journal of Jilin University:Eng and Technol Ed, 2011, 41(1): 24-0028 |
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| Authors: | CAO Feng-ping WANG Rong-ben |
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| Affiliation: | College of Transportation, Jilin University, Changchun 130022, China |
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| Abstract: | To meet the requirement of the lunar rover vision system on real-timeness and robustness, a new stereo matching algorithm was proposed based on extraction of point and edge features. The rectified stereo images were preprocessed by Gauss filter and CLAHE method to weaken the effects of noise and contrast. The extraction and matching methods of SIFT key point and edge features were studied to get the environment general picture and obstacle information around the lunar rover. The 3-D coordinates correspondin... |
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| Keywords: | engineering of communications and transportation system lunar rover stereo vision feature matching 3D reconstruction |
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