Lunar rover's vision technology for auto-navigation

This paper introduces the vision technology for auto-navigation on the lunar surface in CE-3 project. The basic principle of stereo vision by navigation cameras and hazard cameras is explicated. The idiographic reality including inner parameter correction, epipolar line rectification, DOG filter, dense matching, disparity map filter and 3D coordinate calculation are described in details and the process results of real lunar images are brought out in the end.