It is necessary to reconstruct a large-scale landing-site mapping by recovering and registering the local scenes into a
uniform annular scene for planetary exploration missions. This paper proposed a global relax iterative optimization
method to registering the local scenes into a uniform annular scene. For this scheme, the transform matrix between any
two adjacent 3D local scenes is fitted based on Carley transform. Subsequently, these local 3D scenes are registered into
a uniform coordinate system using relax iterative optimization method. This optimization method has been tested on the
image sequence of outdoor scenes. Experimental results show that the global registration means error decreases
significantly from 1.33 meters to 0.002 meters in 47 images.
Existed methods can't be used for recognizing simple polyhedron. In this paper, three problems are researched. First, a
method for recognizing triangle and quadrilateral is introduced based on geometry and angle constraint. Then Attribute
Relation Graph (ARG) is employed to describe simple polyhedron and line drawing. Last, a new method is presented to
recognize simple polyhedron from a line drawing. The method filters the candidate database before matching line
drawing and model, thus the recognition efficiency is improved greatly. We introduced the geometrical characteristics
and topological characteristics to describe each node of ARG, so the algorithm can not only recognize polyhedrons with
different shape but also distinguish between polyhedrons with the same shape but with different sizes and proportions.
Computer simulations demonstrate the effectiveness of the method preliminarily.
In this paper, we integrate a pair of CCD cameras and a digital pan/title of two degrees of freedom into a binocular stereo
vision system, which simulates the panoramic cameras system of the lunar rover. The constraints for placement and
parameters choice of the stereo cameras pair are proposed based on science objective of Chang'e-IImission. And then
these constraints are applied to our binocular stereo vision system and analyzed the location precise of it. Simulation and
experimental result confirm the constraints proposed and the analysis of the location precise.
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