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 3D coordinates corresponding to feature points were calculated combining the matched SIFT features and edge features to realize the 3D reconstruction of lunar surface environment terrain. Experimental results validated the effectiveness of the proposed matching algorithm.

Key words: engineering of communications and transportation system, lunar rover, stereo vision, feature matching, 3D reconstruction