3D Point Cloud Matching Based Selfie Generation for Chang'e-5  

作　　者：Xiao-Rui Chen Meng-Fei Yang Gao Zhang Wu Zhang Jing Peng Zheng Gu Xiang-Jin Deng Liu-Zhi Yang Fei Yang Yun Yang Shou-Qian Sun Ruo-Feng Tong Min Tang 陈潇瑞;杨孟飞;张高;张伍;彭兢;顾征;邓湘金;杨柳枝;杨飞;杨赟;孙守迁;童若锋;唐敏

机构地区：[1]College of Computer Science and Technology,Zhejiang University,Hangzhou 310007,China [2]China Academy of Space Technology,Beijing 100094,China [3]Beijing Institute of Spacecraft System Engineering,Beijing 100094,China

出　　处：《Journal of Computer Science & Technology》2025年第1期85-98,共14页计算机科学技术学报(英文版)

基　　金：supported by the Leading Goose Research and Development Program of Zhejiang Province of China under Grant No.2024C01103.

摘　　要：Generating selfie images on the surface of a celestial body poses several challenges,including the position of the robotic arm,camera field of view,and limited shooting time.To address these challenges,the PCMIS(3D Point Cloud Matching Based Image Stitching)algorithm is designed,along with a corresponding shooting plan.This algorithm establishes a correspondence between depth and color information,enabling the generation of stitching views under any given view parameter.Furthermore,the algorithm is accelerated using GPU processing,resulting in a significant reduction in stitching time.The algorithm is successfully applied to generate selfie images for the Chang'e-5 mission.

关 键 词：image stitching 3D point cloud matching Chang'e-5 GPU computing selfie generation 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]