A Robust Rectification Algorithm for the Vision Navigation System of the Planetary Rover

  • Huaichao Wang
  • Kai Jiang
  • Xuequan Zhang
  • Haifeng Li
  • Xin JinEmail author
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10092)


A robust rectification algorithm for vision navigation system of the planetary rover is presented to rectify the stereo images based on the traditional projective rectification algorithm. In this algorithm, the projective matrix is calculated by corresponding points and then optimized using the parameters calibrated on the earth. This algorithm can resolve the parameter changing problem in soft-landing for planetary rover effectively. Experiments show that the results are almost same as the ones using calibrated rectification algorithm.


Rectification Vision Navigation Fundamental matrix Epipolar geometry 



This work is partially supported by the Open Project Foundation of Information Technology Research Base of Civil Aviation Administration of China (NO. CAAC-ITRB-201403), the National Natural Science Foundation of China (Grant NO.61402021, No.61402023), the Science and Technology Project of the State Archives Administrator. (Grant NO.2015-B-10), the open funding project of State Key Laboratory of Virtual Reality Technology and Systems, Beihang University (Grant NO. BUAA-VR-16KF-09), and fundamental research funds for the central universities (Grant NO.3122014C017, 2014GCYY02, 2014GCYY04, 2016LG03, 2016LG04).


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Copyright information

© Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Huaichao Wang
    • 1
  • Kai Jiang
    • 2
  • Xuequan Zhang
    • 3
  • Haifeng Li
    • 1
  • Xin Jin
    • 4
    Email author
  1. 1.Information Technology Research Base of Civil AviationCivil Aviation University of ChinaTianjinChina
  2. 2.Science China PressBeijingChina
  3. 3.Center for Space Science and Applied ResearchChinese Academy of SciencesBeijingChina
  4. 4.Beijing Electronic Science and Technology InstituteBeijingChina

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