A hierarchical graph matching based method for large distance rover localization
Yinlin Li1; Yuren Zhang2; Chuankai Liu3; Xu Yang1; Hong Qiao1
2017-08
Conference Name2017 IEEE International Conference on Mechatronics and Automation (ICMA)
Conference Date2017-8
Conference PlaceTakamatsu, Japan
AbstractKey point correspondence plays a critical role in large distance lunar rover localization and navigation, which can decrease accumulative errors and facilitate the rover to approach probing target accurately. Lunar surface images often contain similar patterns, noisy points and obvious illumination changes, especially along with large distance movement, overlapping regions of image pairs have large deformations and sorely different scales. Traditional appearance based matching methods fail in such conditions as local appearance features become less distinctive. In this paper, we proposed a novel hierarchical graph matching strategy to fully utilize structure property of key points. For vertexes in bigger scale, their neighborhood graphs in smaller scale are regarded as vertex labels and the differences of neighborhood graphs are regarded as differences of vertexes. Based on the new strategy, both global and local constraint are considered such that the dependency on local appearance is alleviated. Furthermore, an active key point detection method is proposed to serve the graph matching method for better performance. Finally, several experiments are conducted on lunar surface images collected by Chang’E-3 rover, which demonstrate the robustness and effectiveness of the proposed method.
 
KeywordKey Point Detection Key Point Correspondence Graph Matching Lunar Image
Subject Area模式识别与智能系统
DOI10.1109/ICMA.2017.8015973
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21732
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorYinlin Li
Affiliation1.The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
2.Meituan
3.Key Laboratory of Science and Technology on Aerospace Flight Dynamics Beijing Aerospace Control Center
Recommended Citation
GB/T 7714
Yinlin Li,Yuren Zhang,Chuankai Liu,et al. A hierarchical graph matching based method for large distance rover localization[C],2017.
Files in This Item: Download All
File Name/Size DocType Version Access License
ICMA2017.pdf(2181KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yinlin Li]'s Articles
[Yuren Zhang]'s Articles
[Chuankai Liu]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yinlin Li]'s Articles
[Yuren Zhang]'s Articles
[Chuankai Liu]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yinlin Li]'s Articles
[Yuren Zhang]'s Articles
[Chuankai Liu]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ICMA2017.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.