Abstract
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.
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This work was supported by the Leading Goose Research and Development Program of Zhejiang Province of China under Grant No. 2024C01103.
Xiao-Rui Chen received his B.S. degree in computer science from Shandong University, Jinan, in 2016. He is currently a Ph.D. candidate of Zhejiang University, Hangzhou. His current research interests include clothes simulation, GPU-algorithm, collision detection, and collision response.
Meng-Fei Yang is an academician of the Chinese Academy of Sciences and a researcher of the China Academy of Space Technology. He received his Ph.D. degree from Tsinghua University, Beijing, in 2005. He has long been engaged in the research of spacecraft system design, spacecraft control system, and space reliable computer system.
Gao Zhang is a researcher of the Beijing Institute of Spacecraft System Engineering, Beijing. His research interest is the system design of deep space explorer.
Wu Zhang received his Master’s degree from Jilin University of Technology, Changchun, in 1997. He is currently a researcher of the Beijing Institute of Spacecraft System Engineering, Beijing. His research interest is the system design of deep space explorer, Spaceborne power system, etc.
Jing Peng is a researcher at the Beijing Institute of Spacecraft System Engineering, Beijing. His interest is system engineering of deep space probe and flight control of spacecraft.
Zheng Gu received his Ph.D. degree from Sichuan University, Chengdu, in 2008. He is currently a researcher of the Beijing Institute of Spacecraft System Engineering, Beijing. His research interests include the system design of deep space explorer, engineering parameter measurement, etc.
Xiang-Jin Deng is a researcher at the Beijing Institute of Spacecraft System Engineering, Beijing. His research interest is the system design of deep space explorer, sampling encapsulation system, etc.
Liu-Zhi Yang received her B.S. and M.S. degrees in computer science and technology from Zhejiang University, Hangzhou, in 2017 and 2020, respectively. She currently works at NetEase Inc., Hangzhou. Her research interests include physically-based simulation and GPU-algorithms.
Fei Yang received his B.S. degree in computer science and technology from Huazhong University of Science and Technology in 2018, and his M.S. degree in the same field from Zhejiang University in 2021. He currently works at NetEase Inc., Hangzhou. His research interests include physically-based simulation and GPU-algorithms.
Yun Yang received his B.S. degrees in computer science and technology from Zhejiang University, Hangzhou, in 2019. He is currently a Ph.D. candidate of Zhejiang University, Hangzhou. His current research interests include physically-based simulation and GPU-algorithms.
Shou-Qian Sun is currently a professor of the College of Computer Science and Technology, Zhejiang University, Hangzhou. He is also the director of the Modern Industrial Design Institute, Zhejiang University, Hangzhou. Since 1999, his work has concentrated on the computer-aided industrial design and conceptual design, applied ergonomics and design, virtual human, and new medium design.
Ruo-Feng Tong received his B.S. degree from Fudan University, Shanghai, in 1991, and his Ph.D. degree from Zhejiang University, Hangzhou, in 1996. He is a professor of the College of Computer Science and Technology, Zhejiang University. His current research interests include virtual reality, computer vision, and artificial intelligence based assisted medical diagnosis.
Min Tang received his B.S., M.S., and Ph.D. degrees from Zhejiang University, Hangzhou, in 1994, 1996, and 1999, respectively. He is a professor of the College of Computer Science and Technology, Zhejiang University, Hangzhou. His research interests include collision detection/handling, cloth simulation, and GPU-based computation acceleration.
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Chen, XR., Yang, MF., Zhang, G. et al. 3D Point Cloud Matching Based Selfie Generation for Chang’e-5. J. Comput. Sci. Technol. 40, 85–98 (2025). https://doi.org/10.1007/s11390-024-3667-6
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DOI: https://doi.org/10.1007/s11390-024-3667-6