Abstract
In the task of lunar soil collection, estimating the volume of the collected soil is an important part of the sampling control of the lander. Due to the design constraints of the lander, there is no additional installation position for volume measurement equipment. To fully use the sensors already installed, a collected soil volume measurement method is designed in this paper based only on a single monitoring camera. This method uses a sequence of images of the collection area captured by the camera mounted on the acquisition arm to accurately reconstruct the terrain of the collection area surface before and after soil acquisition. Additionally, bi-temporal dense point clouds are reconstructed. Based on the area of change associated with soil collection, the constructed dense point clouds are compared according to the topographic characteristics of the area to estimate the volume of soil collected. Experiments show that the method is stable and reliable and can meet the requirements of actual measurement tasks.
Highlights
Soil collection is an important task for lunar landers working on the moon
The monitoring camera fixed on the acquisition arm of the lunar lander can move flexibly and
The monitoring camera fixed on the acquisition arm of the lunar lander can move flexibly and obtain measurement area images from multiple angles and positions
Summary
Soil collection is an important task for lunar landers working on the moon. Researchers often want to estimate the collected soil volume during sampling tasks, and weighing is the most direct way of doing so. In addition to the mentioned above, monitoring usually installed onof the soil visual angle selection not limited field constraints. ItA has the advantage of flexible visualby theangle monitoring camera a group of overlapping images takenoffrom different angles selection and iscomprises not limited by field constraints. This paper uses the sequential images of the collection area captured by the monitoring camera and designs and implements a method for measuring the amount of soil collected by the lunar detector. There are two key problems addressed with this method: one involves completely and reconstructing the collection area, and the other includes comparing the reconstruction results before accurately reconstructing the collection area, and the other includes comparing the reconstruction and after soil acquisition to determine the volume of the collected soil.
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