Abstract
Tianwen-1 probe is equipped with the descent camera. Descent images are very special and characteristic. Many image processing missions can be done when parameters of descent camera are known. Therefore, the self-calibration method for descent camera based on the structure from motion (SfM) is proposed. The relative orientation model of the oblique and the vertical baselines is proposed in order to provide the accurate initial value. Simulated experiment of the unmanned aerial vehicle in the desert environment verifies that the proposed method has high positioning accuracy and the stability. Finally, the proposed method is practical used for Tianwen-1 mission. The average value of the root-mean-square error of the in-orbit checking points is 0.875 m.
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Acknowledgements
Thanks to the cooperation and support of Zhurong Rover’s development team.
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Conceptualization: SL, YJ. Methodology: SZ; resources: YJ, JZ, BW, SP. Experiment and data analysis: CQ, YW, YM, HL, YY. Funding acquisition: YJ, SL, SZ, YM. Writing-original draft preparation: SZ. Writing-review and editing: SL, YJ.
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Zhang, S., Zhang, J., Peng, S. et al. Self-Calibration of the Descent Camera of the Tianwen-1 Probe. SN COMPUT. SCI. 3, 480 (2022). https://doi.org/10.1007/s42979-022-01369-6
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DOI: https://doi.org/10.1007/s42979-022-01369-6