行星探测器导航相机着陆后参数标定方法  

A calibration method for navigation cameras’ parameters of planetary detector after landing

作　　者：鄢咏折 彭松[3] 马友青 张烁 亓晨 温博 李昊 贾阳[3] 刘少创 YAN Yongzhe;PENG Song;MA Youqing;ZHANG Shuo;QI Chen;WEN Bo;Li Hao;JIA Yang;LIU Shaochuang(The Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100101, China;University of Chinese Academy of Sciences, Beijing 100049, China;Beijing Institute of Spacecraft System Engineering, Beijing 100094, China;School of Geodesy and Geomatics, Wuhan University, Wuhan 430072, China)

机构地区：[1]中国科学院空天信息创新研究院,北京100101 [2]中国科学院大学,北京100049 [3]北京空间飞行器总体设计部,北京100094 [4]武汉大学测绘学院,武汉430072

出　　处：《测绘学报》2022年第3期437-445,共9页Acta Geodaetica et Cartographica Sinica

基　　金：国家自然科学基金(42071447)。

摘　　要：巡视器导航相机在发射前已完成标定,但在飞抵行星表面开展工作前需经过长时间飞行,其间受到的外力可能导致相机参数发生变化,所以在着陆后需要对导航双目相机重新标定。本文首先介绍了以太阳能电池板为标定板,然后通过Hough变换、聚类思想和最小二乘直线拟合法提取出电池板格网线,根据直线参数重新标定导航双目相机外参的标定方法,最后进行了两项试验。试验1以嫦娥4号影像进行格网线提取试验,并与传统的Hough变换直线提取结果进行比较,本文提取方法更准确;试验2以模拟直线参数进行双目相机外参标定试验,结果说明解算精度较高,方法可行有效。但该相机标定方法将相机内参作为已知值,并单独解算左、右相机外参,下一步将继续研究相机内、外参同时标定的方法和双目相机一步标定的方法。The navigation cameras of rover have been calibrated on the earth before launch, but it’s a long flight before the rover arrives at another planet to work, during which the external force may cause the cameras’ parameters to change. So, it is necessary to recalibrate the navigation binocular cameras after landing. This paper introduces a calibration method based on the solar panel as the calibration plate, which extracts the grid lines of the solar panel by Hough transform, the idea of clustering and least square line fitting method, and then recalibrates the external parameters of navigation binocular cameras according to the lines’ parameters. At last, two experiments are carried out. In Experiment 1, the grid line extraction experiment is carried out with Chang’e 4 image, and the extraction method in this paper is more accurate compared with the traditional Hough transform line extraction results;In Experiment 2, the external parameters of binocular camera are calibrated with simulated linear parameters. The results show that the solution accuracy is high, and the method is feasible and effective. However, this camera calibration method takes the camera internal parameters as known values, and solves the external parameters of the left and right cameras separately. In the next step, we will continue to study the method of simultaneous calibration of camera internal and external parameters, and the method of one-step calibration of binocular camera.

关 键 词：双目相机标定 HOUGH变换 聚类 最小二乘 直线拟合 

分 类 号：P237[天文地球—摄影测量与遥感]