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External Parameter Recalibration of the Binocular Cameras Onboard the Chang’e-4 Lunar Rover

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Abstract

There is a pair of binocular cameras for navigation onboard the Chang’e-4 lunar rover. Although the cameras were calibrated before launch, it is necessary to calibrate them again after landing on the moon, especially the external parameters. In this article, an image of a solar panel containing parallel-line features is used for recalibration. According to the collinear equations of an image point, object point and projection centre, the algebraic relationship between the slope k and intercept t parameters of a line in the image and the external parameters of the cameras are deduced. Through this algebraic relationship, we propose an external parameter recalibration method based on an image that includes parallel lines on a plane in the object space. Three experiments were carried out to evaluate the effectiveness and reliability of the proposed method.

Zusammenfassung

Neukalibrierung der externen Parameter des Stereokamerapaars des Chang'e-4 Mondrovers. Auf dem Chang’e-4 Lunar Rover befindet sich ein Stereokamerapaar zur Navigation. Obwohl die Kameras vor dem Start kalibriert wurden, müssen sie nach der Landung auf dem Mond erneut kalibriert werden, insbesondere die externen Parameter. In diesem Artikel wird das Bild eines Solarmoduls, das Merkmale paralleler Linien enthält, zur Neukalibrierung verwendet. Gemäß der Kollinearitätsgleichung des Bildpunkts, des Objektpunkts und des Aufnahmezentrums wird die algebraische Beziehung zwischen den beiden Linienparametern im Bild, der Steigung k und dem Achsenabschnitt t, und den äußeren Parametern der Kamera hergeleitet. Basierend auf dieser algebraischen Beziehung schlagen wir ein Rekalibrierungsverfahren für externe Kameraparameter auf der Grundlage von Bildern vor, das parallele Linien auf einer Ebene im Objektraum nutzt. Schließlich wurden drei Experimente durchgeführt, um die Leistungsfähigkeit und Zuverlässigkeit der vorgeschlagenen Methode zu bewerten.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant 42071447.

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Authors and Affiliations

  1. The Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, 100101, China

    YongZhe Yan, YouQing Ma, Shuo Zhang, YunJia Wu & ShaoChuang Liu

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    YongZhe Yan & YunJia Wu

  3. School of Geodesy and Geomatics, Wuhan University, Wuhan, 430072, China

    Chen Qi

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  1. YongZhe Yan
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  2. Chen Qi
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  3. YouQing Ma
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  4. Shuo Zhang
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Correspondence to YongZhe Yan.

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Yan, Y., Qi, C., Ma, Y. et al. External Parameter Recalibration of the Binocular Cameras Onboard the Chang’e-4 Lunar Rover. PFG 90, 293–303 (2022). https://doi.org/10.1007/s41064-022-00199-8

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  • DOI: https://doi.org/10.1007/s41064-022-00199-8

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