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Proceedings Paper • Open Access

Researches on hazard avoidance cameras calibration of Lunar Rover
Author(s): Chunyan Li; Li Wang; Xin Lu; Jihua Chen; Shenghong Fan

Paper Abstract

Lunar Lander and Rover of China will be launched in 2013. It will finish the mission targets of lunar soft landing and patrol exploration. Lunar Rover has forward facing stereo camera pair (Hazcams) for hazard avoidance. Hazcams calibration is essential for stereo vision. The Hazcam optics are f-theta fish-eye lenses with a 120°×120° horizontal/vertical field of view (FOV) and a 170° diagonal FOV. They introduce significant distortion in images and the acquired images are quite warped, which makes conventional camera calibration algorithms no longer work well.

A photogrammetric calibration method of geometric model for the type of optical fish-eye constructions is investigated in this paper. In the method, Hazcams model is represented by collinearity equations with interior orientation and exterior orientation parameters [1] [2]. For high-precision applications, the accurate calibration model is formulated with the radial symmetric distortion and the decentering distortion as well as parameters to model affinity and shear based on the fisheye deformation model [3] [4]. The proposed method has been applied to the stereo camera calibration system for Lunar Rover.

Paper Details

Date Published: 20 November 2017
PDF: 6 pages
Proc. SPIE 10565, International Conference on Space Optics — ICSO 2010, 105652T (20 November 2017); doi: 10.1117/12.2309266
Show Author Affiliations
Chunyan Li, Beijing Institute of Control Engineering (China)
Li Wang, Beijing Institute of Control Engineering (China)
Xin Lu, Beijing Institute of Control Engineering (China)
Jihua Chen, Zhen Zhou Sunward Technology Co. Ltd. (China)
Shenghong Fan, Zhen Zhou Sunward Technology Co. Ltd. (China)


Published in SPIE Proceedings Vol. 10565:
International Conference on Space Optics — ICSO 2010
Errico Armandillo; Bruno Cugny; Nikos Karafolas, Editor(s)

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