“祝融号”火星车立体视觉算法并行设计与实现  

Parallel Design and Implementation of Stereo Vision Algorithm of Zhurong Mars Rover

作　　者：毛晓艳[1,2] 苗志富 陈建新[1] 李志平[1] 滕宝毅 邢琰[1,2] MAO Xiaoyan;MIAO Zhifu;CHEN Jianxin;LI Zhiping;TENG Baoyi;XING Yan(Beijing Institute of Control Engineering,Beijing 100190,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《深空探测学报（中英文）》2022年第2期202-210,共9页Journal Of Deep Space Exploration

基　　金：国家自然科学基金项目(61803028,61673057);民用航天预先研究项目。

摘　　要：针对地外天体的巡视探测任务,环境感知计算量大影响行走效率的问题,提出了立体视觉算法及并行优化设计与硬件协同来提高效率的方案。通过前向模型一次查表、省略冗余计算、三维点云生成与快速滤波等并行优化算法,立体视觉的计算量显著减少。再通过硬件的并行实现,感知效率比“玉兔二号”提升了8倍。“祝融号”火星车采用该算法自主避障,完成了安全高效的1 km行走距离,飞行在轨验证结果表明该设计在地外天体未知环境和资源约束条件下快速有效,可作为后续深空任务的基石。Aiming at the problem that the large amount of environmental perception calculation affects the walking efficiency in the rover detection task of celestial bodies outside the earth,the scheme selection,the parallel optimization engineering design and the efficient hardware implementation of stereo vision algorithm were proposed.Through the optimization design of algorithms suitable for parallel implementation,such as one-time look-up table of forward camera model,omitting redundant calculation,3D point cloud generation and fast filtering,the amount of calculation for stereo vision was significantly reduced.Through the parallel implementation of hardware,the perception efficiency was improved by 8 times compared with that of“Yutu 2”Lunar rover.“Zhurong”Mars rover extensively used the algorithm for autonomous obstacle avoidance and completed a safe and efficient 1km-distance walk.The flight verification results show that the design is safe and effective under unknown environments and resource constraints of celestial bodies outside the earth,and can be used as the cornerstone of subsequent deep space missions.

关 键 词：祝融号 立体视觉 并行设计 前向模型 冗余计算 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]