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首页> 外文会议>IEEE International Conference on Image Processing >HORIZON BASED ORIENTATION ESTIMATION FOR PLANETARY SURFACE NAVIGATION
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HORIZON BASED ORIENTATION ESTIMATION FOR PLANETARY SURFACE NAVIGATION

机译：行星表面导航的基于地平线的方向估计

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Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.
机译：行星Rovers在全球定位系统（GPS）不可用的极端环境中导航，地图仅限于轨道图像提供的相对较低的分辨率，并且罗盘信息通常由于存在弱或不存在的磁场而缺乏缺乏。然而，通过到达科学目标，避免在轨道地图中可见的负面障碍，以及维持与地面的良好通信连接来实现使命成功尤为重要。本文介绍了用于精确的流动站方向估计的地平线解决方案。由上载导航摄像机提供的图像中检测到的地平线与现有地形模型所呈现的地平线匹配。旋转参数（滚动，间距偏航）最小化两条地平线曲线之间的成本函数的旋转参数（滚动，间距偏航）对应于流动站估计姿势。

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