The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLII-2/W13
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W13, 1471–1477, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W13-1471-2019
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W13, 1471–1477, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W13-1471-2019

  05 Jun 2019

05 Jun 2019

VISION BASED OBSTACLE DETECTION USING ROVER STEREO IMAGES

Y. Wang1, M. Peng1, K. Di1, W. Wan1, Z. Liu1, Z. Yue1, Y. Xing2, X. Mao2, and B. Teng2 Y. Wang et al.
  • 1State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing, China
  • 2Beijing Institute of Control Engineering, Beijing, China

Keywords: Obstacle detection, Stereo camera, Point cloud, Image segmentation, Rover

Abstract. Vision based obstacle detection using stereo images is an essential way for hazard avoidance and path planning in planetary rover missions. However, due to light condition changes and topographic relief, only partial or sparse three-dimensional points may be derived by image matching and triangulation reconstruction, which is not sufficient for recognizing obstacles. In this paper, we developed a strategy to detect obstacles using rover stereo images by combining both image grayscale information and sparse 3D point information. Experiments were carried out using stereo images captured by navigation cameras mounted on the Yutu rover of Chang’e-3 mission. Moreover, how obstacle localization accuracy affected by the parameters are analysed and discussed.