AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION
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 Odom...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2018-04-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-3/1439/2018/isprs-archives-XLII-3-1439-2018.pdf |
| _version_ | 1819054022115459072 |
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| author | M. Qin M. Qin X. Wan X. Wan Y. Y. Shao Y. Y. Shao S. Y. Li S. Y. Li |
| author_facet | M. Qin M. Qin X. Wan X. Wan Y. Y. Shao Y. Y. Shao S. Y. Li S. Y. Li |
| author_sort | M. Qin |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-21T12:45:01Z |
| format | Article |
| id | doaj.art-87754e2497a34cd1ad6b7fcd51940c31 |
| institution | Directory Open Access Journal |
| issn | 1682-1750 2194-9034 |
| language | English |
| last_indexed | 2024-12-21T12:45:01Z |
| publishDate | 2018-04-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-87754e2497a34cd1ad6b7fcd51940c312022-12-21T19:03:40ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342018-04-01XLII-31439144510.5194/isprs-archives-XLII-3-1439-2018AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATIONM. Qin0M. Qin1X. Wan2X. Wan3Y. Y. Shao4Y. Y. Shao5S. Y. Li6S. Y. Li7Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, ChinaKey Laboratory of Space Utilization, Chinese Academy of Sciences, Beijing, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, ChinaKey Laboratory of Space Utilization, Chinese Academy of Sciences, Beijing, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, ChinaKey Laboratory of Space Utilization, Chinese Academy of Sciences, Beijing, ChinaTechnology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, ChinaKey Laboratory of Space Utilization, Chinese Academy of Sciences, Beijing, ChinaVision-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.https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-3/1439/2018/isprs-archives-XLII-3-1439-2018.pdf |
| spellingShingle | M. Qin M. Qin X. Wan X. Wan Y. Y. Shao Y. Y. Shao S. Y. Li S. Y. Li AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION |
| title_full | AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION |
| title_fullStr | AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION |
| title_full_unstemmed | AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION |
| title_short | AN AUTONOMOUS GPS-DENIED UNMANNED VEHICLE PLATFORM BASED ON BINOCULAR VISION FOR PLANETARY EXPLORATION |
| title_sort | autonomous gps denied unmanned vehicle platform based on binocular vision for planetary exploration |
| url | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-3/1439/2018/isprs-archives-XLII-3-1439-2018.pdf |
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