Research On Stereo Vision Imaging Technology Used For Detecting Low-light Regions Of The Moon

As the nearest natural celestial body to the earth,the moon is the best target for deep space exploration.In recent years,the lunar polar region has become a hot area for future moon exploration,because of its unique geographical location and scientific exploration value.Due to the angle of solar irradiation and lunar terrain,there are many special areas where that is almost no sunlight near the polar region,so called the lunar low-light regions.Probing the low-light region of the moon can reveal the source and distribution of water-ice on the moon,the surface state and internal structure of the moon,as well as new energy materials and resources.However,because of the lack of light and extremely low temperature in the lunar low-light regions,the ground three-dimensional measuring equipment for the topography environment detection generally cannot work well in the lunar low-light regions.Although it is a representative passive three-dimensional measuring method,binocular stereo vision imaging system cannot achieve the depth acquisition under the special environment in the lunar low-light regions as well.In order to implement the environment detection in the lunar low light regions,an active depth acquisition system is constructed by combining the active lighting system with the binocular stereo imaging system.The feasibility of this system is verified by experiments.The main work of this paper is as follows:First,the characteristics of non-modulated light source and modulated light source are studied,and the experiments of encoding and decoding modulated light are realized by simulation.By studying binocular stereo vision imaging system,two stereo vision models with non-parallel optical axis and parallel optical axis are constructed.The models of binocular stereo imaging systems with unmodulated light illumination and modulated light illumination are constructed.Second,the imaging theory of binocular stereo vision camera is studied.Respectively,the camera calibration,images correction,image stereo matching and depth information acquisition are studied through both theoretical analysis and experimental verification.Consequently,the obtaining of the depth information of the object by the binocular stereo vision imaging system is realized.Third,the feasibility of the active lighting binocular stereo vision imaging system is verified experimentally.The verification facility of binocular stereo vision with non-modulated light illumination is constructed.The fact verifies the feasibility of the system that the depth information of the object at one meter distance can be obtained.The verification facility of binocular stereo vision with modulated light illumination was constructed,and the feasibility of the system is verified by experiments.