01-08-2023 дата публикации
Номер: CN116524031A
Автор:
LIANG YUANYUAN,
LI JIAMEI,
YANG YIFEN,
DENG XIAOLU,
BAO XINGPENG,
MIAO YUNHUA,
TANG JINGWEN,
ZHOU WEN,
ZHOU JUN,
BAI SHUCHUN,
SHENG YAN,
ZHU LIN,
YANG LINGLING
Принадлежит:
The invention discloses a large-range lunar rover positioning mapping method based on YOLOV8. A meteorite crater landmark database, a binocular image preprocessing layer, a target detection layer, a binocular target matching layer, a distance detection and relative pose estimation layer, a meteorite crater matching layer and a lunar rover pose optimization layer are included. The invention belongs to the technical field of space distance automatic measurement and computer vision, and particularly relates to a large-range lunar rover positioning mapping method based on YOLOV8. The method has the advantages that the binocular vision ranging is combined with the improved YOLOV8 target detection, the depth information of the meteorite crater or the stone can be quickly calculated, and the image feature matching is replaced by the target matching, so that the problems of large calculation amount and long detection time of the laser point cloud or the depth image point cloud are avoided, and ...
Подробнее