基于改进动态规划法的月面地形三维重建

摘要

The optical images from lunar rover could be used to reconstruct the lunar terrain spatial configuration. The products include 3D point cloud and digital orthophoto map, etc. While the images matching algorithm accuracy is closely related to the reconstruction’s accuracy and reliability, an improved dynamic programming matching method is required. Considering bidirectional constraints of row and column simultaneously and adding the dynamic seed point strategy, this algorithm can get global optimal solution with the advantages of high efficiency and stability. Compared with the result from others methods and the ground laser data, experimental results demonstrate that the method has a high accuracy and capability to meet the demand of lunar rover positioning and navigation exploration project.%月面巡视探测器导航相机获取的立体影像用于恢复月面地形的空间构型，可以直接服务于巡视器的导航定位工作。影像匹配算法直接关系到地形恢复的精度和可靠性，改进动态规划影像匹配方法兼顾行列双向约束机制增强了视差空间的完备性，并通过动态设立种子点进行分段规划获得整体最优解。实验采用嫦娥二期工程地表试验影像进行论证，通过三角测量重构得到地面点云数据，与其他匹配方法的恢复结果和实地激光扫描地形数据进行了比对，证明了该匹配算法的匹配效率高于传统方法且恢复的点云数据精度可靠，满足于探月工程中巡视器定位导航的需求。