Abstract
Abstract. The topographic mapping of sampling areas, providing basic sampling environment information, is crucial in sample return mission. The fixed monitoring cameras were designed for mapping of sampling areas in fixed effective resolution. In order to perform more detailed topographic analysis of sampling areas, this paper proposed a topographic mapping method based on the sequential sample images captured with the movements of manipulator arm. The tie point matching results and the image exterior orientation parameters obtained from measurements of manipulator arm joints were employed to the weighted bundle adjustment based optimization for the accurate topographic mapping. The simulated images were adopted to validate the effectiveness and accuracy of the proposed method.
Highlights
In 1960s and 1970s, the U.S and the former Soviet Union successfully implemented the lunar sample return missions and brought back hundreds of kilograms of lunar soil and rocks successfully (Allton et al, 2003; Bugos et al, 2013). These lunar samples have offered an fundemental basis for the studies of lunar sciences
This paper proposed an structure from motion (SFM) based topographic mapping method with monocular sampling images
The topographic mapping accuracy of the proposed method should be investigated to evaluate the feasibility for sample return mission
Summary
In 1960s and 1970s, the U.S and the former Soviet Union successfully implemented the lunar sample return missions and brought back hundreds of kilograms of lunar soil and rocks successfully (Allton et al, 2003; Bugos et al, 2013). The lander will accomplish soil and rock sampling with a 4-DOF manipulator arm in the sampling areas around the landing point. Detailed topographic analysis of sampling areas is crucial to the effectiveness and safety of sampling operation. Stereo vision based on lander monitor cameras will be applied for topographic mapping of the sampling areas. The binocular monitor cameras fixed on the lander captures the stereo images of sampling areas for the evaluation of sampling operation at variable intervals. Generated DEM with accurate EOPs, we analysed the feasibility and effectiveness of the proposed method
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