Open Access Paper
20 November 2017 Researches on hazard avoidance cameras calibration of Lunar Rover
Chunyan Li, Li Wang, Xin Lu, Jihua Chen, Shenghong Fan
Author Affiliations +
Proceedings Volume 10565, International Conference on Space Optics — ICSO 2010; 105652T (2017) https://doi.org/10.1117/12.2309266
Event: International Conference on Space Optics—ICSO 2010, 2010, Rhodes Island, Greece
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.
© (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Chunyan Li, Li Wang, Xin Lu, Jihua Chen, and Shenghong Fan "Researches on hazard avoidance cameras calibration of Lunar Rover", Proc. SPIE 10565, International Conference on Space Optics — ICSO 2010, 105652T (20 November 2017); https://doi.org/10.1117/12.2309266
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Cited by 2 scholarly publications.
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KEYWORDS
Calibration

Cameras

Imaging systems

3D modeling

Distortion

3D image processing

3D metrology

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