دورية أكاديمية
أعرض في EDS

AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION

التفاصيل البيبلوغرافية
العنوان: AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION
المؤلفون: M. Qin, X. Wan, Y. Y. Shao, S. Y. Li
المصدر: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XLII-3, Pp 1439-1445 (2018)
بيانات النشر: Copernicus Publications, 2018.
سنة النشر: 2018
المجموعة: LCC:Technology
LCC:Engineering (General). Civil engineering (General)
LCC:Applied optics. Photonics
مصطلحات موضوعية: Technology, Engineering (General). Civil engineering (General), TA1-2040, Applied optics. Photonics, TA1501-1820
الوصف: Vision-based navigation has become an attractive solution for autonomous navigation for planetary exploration. This paper presents our work of designing and building an autonomous vision-based GPS-denied unmanned vehicle and developing an ARFM (Adaptive Robust Feature Matching) based VO (Visual Odometry) software for its autonomous navigation. The hardware system is mainly composed of binocular stereo camera, a pan-and tilt, a master machine, a tracked chassis. And the ARFM-based VO software system contains four modules: camera calibration, ARFM-based 3D reconstruction, position and attitude calculation, BA (Bundle Adjustment) modules. Two VO experiments were carried out using both outdoor images from open dataset and indoor images captured by our vehicle, the results demonstrate that our vision-based unmanned vehicle is able to achieve autonomous localization and has the potential for future planetary exploration.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 1682-1750
2194-9034
Relation: https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-3/1439/2018/isprs-archives-XLII-3-1439-2018.pdf; https://doaj.org/toc/1682-1750; https://doaj.org/toc/2194-9034
DOI: 10.5194/isprs-archives-XLII-3-1439-2018
URL الوصول: https://doaj.org/article/87754e2497a34cd1ad6b7fcd51940c31
رقم الأكسشن: edsdoj.87754e2497a34cd1ad6b7fcd51940c31
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:16821750
21949034
DOI:10.5194/isprs-archives-XLII-3-1439-2018