A Robust Rectification Algorithm for the Vision Navigation System of the Planetary Rover
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.
KeywordsRectification 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).
- 1.Fusiello, A., Irsara, L.: Quasi-Euclidean uncalibrated epipolar rectification. In: 19th International Conference on Pattern Recognition, Tampa, FL (2008)Google Scholar
- 3.Loop, C., Zhang, Z.Y.: Computing rectifying homographies for stereo vision. In: Proceeding of the International Conference on Computer Vision and Pattern Recognition, Collins, USA (1999)Google Scholar
- 4.Lin, G., Zhang, W.: A robust pole line rectification algorithm without fundamental matrix. J. Image Graph. 11, 203–209 (2006)Google Scholar
- 5.Chen, B., Chen, H., Li, X.: Near real time linear stereo cost aggregation on GPU. J. Image Graph. 19, 1481–1489 (2014) Google Scholar