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CLC number: TP317.4; TP391

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Received: 2007-11-14

Revision Accepted: 2008-02-18

Crosschecked: 0000-00-00

Cited: 4

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Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.10 P.1341-1350


Vision based terrain reconstruction for planet rover using a special binocular bundle adjustment

Author(s):  Min-yi SHEN, Zhi-yu XIANG, Ji-lin LIU

Affiliation(s):  Institute of Information and Communication Engineering, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   xiangzy@zju.edu.cn

Key Words:  3D reconstruction, Binocular bundle adjustment (BBA), Scale-invariant feature transform (SIFT), Re-projection error, RANSAC

Min-yi SHEN, Zhi-yu XIANG, Ji-lin LIU. Vision based terrain reconstruction for planet rover using a special binocular bundle adjustment[J]. Journal of Zhejiang University Science A, 2008, 9(10): 1341-1350.

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A1 - Min-yi SHEN
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DOI - 10.1631/jzus.A0720057

This paper presents a pure vision based technique for 3D reconstruction of planet terrain. The reconstruction accuracy depends ultimately on an optimization technique known as ‘bundle adjustment’. In vision techniques, the translation is only known up to a scale factor, and a single scale factor is assumed for the whole sequence of images if only one camera is used. If an extra camera is available, stereo vision based reconstruction can be obtained by binocular views. If the baseline of the stereo setup is known, the scale factor problem is solved. We found that direct application of classical bundle adjustment on the constraints inherent between the binocular views has not been tested. Our method incorporated this constraint into the conventional bundle adjustment method. This special binocular bundle adjustment has been performed on image sequences similar to planet terrain circumstances. Experimental results show that our special method enhances not only the localization accuracy, but also the terrain mapping quality.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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