Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment
The low light conditions, abundant dust, and rocky terrain on the lunar surface pose challenges for scientific research. To effectively perceive the surrounding environment, lunar rovers are equipped with binocular cameras. In this paper, with the aim of accurately detect obstacles on the lunar surf...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/15/6901 |
| _version_ | 1827730890790273024 |
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| author | Ying-Qing Guo Mengjiao Gu Zhao-Dong Xu |
| author_facet | Ying-Qing Guo Mengjiao Gu Zhao-Dong Xu |
| author_sort | Ying-Qing Guo |
| collection | DOAJ |
| description | The low light conditions, abundant dust, and rocky terrain on the lunar surface pose challenges for scientific research. To effectively perceive the surrounding environment, lunar rovers are equipped with binocular cameras. In this paper, with the aim of accurately detect obstacles on the lunar surface under complex conditions, an Improved Semi-Global Matching (I-SGM) algorithm for the binocular cameras is proposed. The proposed method first carries out a cost calculation based on the improved Census transform and an adaptive window based on a connected component. Then, cost aggregation is performed using cross-based cost aggregation in the AD-Census algorithm and the initial disparity of the image is calculated via the Winner-Takes-All (WTA) strategy. Finally, disparity optimization is performed using left–right consistency detection and disparity padding. Utilizing standard test image pairs provided by the Middleburry website, the results of the test reveal that the algorithm can effectively improve the matching accuracy of the SGM algorithm, while reducing the running time of the program and enhancing noise immunity. Furthermore, when applying the I-SGM algorithm to the simulated lunar environment, the results show that the I-SGM algorithm is applicable in dim conditions on the lunar surface and can better help a lunar rover to detect obstacles during its travel. |
| first_indexed | 2024-03-11T00:16:59Z |
| format | Article |
| id | doaj.art-ed5b0d037f4b4abfad027d766fd364cf |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T00:16:59Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ed5b0d037f4b4abfad027d766fd364cf2023-11-18T23:35:59ZengMDPI AGSensors1424-82202023-08-012315690110.3390/s23156901Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface EnvironmentYing-Qing Guo0Mengjiao Gu1Zhao-Dong Xu2College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaChina-Pakistan Belt and Road Joint Laboratory on Smart Disaster Prevention of Major Infrastructures, Southeast University, Nanjing 210096, ChinaThe low light conditions, abundant dust, and rocky terrain on the lunar surface pose challenges for scientific research. To effectively perceive the surrounding environment, lunar rovers are equipped with binocular cameras. In this paper, with the aim of accurately detect obstacles on the lunar surface under complex conditions, an Improved Semi-Global Matching (I-SGM) algorithm for the binocular cameras is proposed. The proposed method first carries out a cost calculation based on the improved Census transform and an adaptive window based on a connected component. Then, cost aggregation is performed using cross-based cost aggregation in the AD-Census algorithm and the initial disparity of the image is calculated via the Winner-Takes-All (WTA) strategy. Finally, disparity optimization is performed using left–right consistency detection and disparity padding. Utilizing standard test image pairs provided by the Middleburry website, the results of the test reveal that the algorithm can effectively improve the matching accuracy of the SGM algorithm, while reducing the running time of the program and enhancing noise immunity. Furthermore, when applying the I-SGM algorithm to the simulated lunar environment, the results show that the I-SGM algorithm is applicable in dim conditions on the lunar surface and can better help a lunar rover to detect obstacles during its travel.https://www.mdpi.com/1424-8220/23/15/6901stereo visionSemi-Global Matching algorithmcensus transformationadaptive window |
| spellingShingle | Ying-Qing Guo Mengjiao Gu Zhao-Dong Xu Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment Sensors stereo vision Semi-Global Matching algorithm census transformation adaptive window |
| title | Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment |
| title_full | Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment |
| title_fullStr | Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment |
| title_full_unstemmed | Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment |
| title_short | Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment |
| title_sort | research on the improvement of semi global matching algorithm for binocular vision based on lunar surface environment |
| topic | stereo vision Semi-Global Matching algorithm census transformation adaptive window |
| url | https://www.mdpi.com/1424-8220/23/15/6901 |
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