The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B3-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B3-2020, 1159–1163, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B3-2020-1159-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B3-2020, 1159–1163, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B3-2020-1159-2020

  21 Aug 2020

21 Aug 2020

TOPOGRAPHIC MAPPING WITH MANIPULATOR ARM CAMERA IN LUNAR SAMPLE RETURN MISSION

W. Wan1, Z. Liu1, Y. Wang1, M. Peng1, K. Di1, C. Liu2, L. Li2, J. Wang2, T. Yu2, R. Wang1, and Z. Bo1 W. Wan et al.
  • 1State Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China
  • 2Beijing Aerospace Control Center, Beijing, China

Keywords: Chang’e-5, flexible manipulator arm, topographic mapping, sample return

Abstract. The topographic mapping of sampling areas, providing basic sampling environment information, is crucial in sample return mission. The fixed monitoring cameras were designed for mapping of sampling areas in fixed effective resolution. In order to perform more detailed topographic analysis of sampling areas, this paper proposed a topographic mapping method based on the sequential sample images captured with the movements of manipulator arm. The tie point matching results and the image exterior orientation parameters obtained from measurements of manipulator arm joints were employed to the weighted bundle adjustment based optimization for the accurate topographic mapping. The simulated images were adopted to validate the effectiveness and accuracy of the proposed method.