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中文摘要：
为了使月球探测器在月球表面安全的软着陆,需要对着陆区域的地形进行三维重构。提出了一种长基线的立体视觉的重构方法。在重构方法中,采用尺度不变特征变换方法,解决了存在旋转和缩放的图像的匹配问题;通过鲁棒最小二乘法估计相对旋转和位移;通过极坐标投影的方法对图像进行校正;使用归一化互相关算法完成立体图像对的匹配;结合Locus方法对地形进行三维重构。仿真的结果表明该方法可以有效的应用于月面地形的重构。
英文摘要：
In order to make lunar lander safely landing on the moon, the terrain of landing region should be reconstructed. A long base -line stereo vision reconstruction method is proposed. In this reconstruction method, the scale invariant feature transform method is adopted to overcome the problem of matching images with rotation and scale changes; the relative rotation and translation are computed through the robust least square estimation method; the image rectification is computed by using the polar coordinate projection method; the correspondence of stereo image pair is calculated through the normalized cross - correlation algorithm; the terrain 3 D reconstruction is accomplished by using the Locus method. The results of simulation show that this method can be used in the reconstruction of lunar terrain effectively.
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Game-theoretic modeling of joint topology control and power scheduling for wireless heterogeneous se
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