A hierarchical graph matching based method for large distance rover localization
Yinlin Li1; Yuren Zhang2; Chuankai Liu3; Xu Yang1; Hong Qiao1
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
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Document Type会议论文
Corresponding AuthorYinlin Li
Affiliation1.The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
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.
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