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<p>Generating selfie images on the surface of a celestial body poses several challenges, including the position of the robotic arm, camera field of view, and limited shooting time. To address these challenges, the PCMIS (3D Point Cloud Matching Based Image Stitching) algorithm is designed, along with a corresponding shooting plan. This algorithm establishes a correspondence between depth and color information, enabling the generation of stitching views under any given view parameter. Furthermore, the algorithm is accelerated using GPU processing, resulting in a significant reduction in stitching time. The algorithm is successfully applied to generate selfie images for the Chang’e-5 mission.</p>

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3D Point Cloud Matching Based Selfie Generation for Chang’e-5

  • 期刊论文

  • 发表日期：

    2025年1月1日

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  • Xiao-Rui Chen,
  • Meng-Fei Yang,
  • Gao Zhang,
  • Wu Zhang,
  • Jing Peng,
  • Zheng Gu,
  • Xiang-Jin Deng,
  • Liu-Zhi Yang,
  • Fei Yang,
  • Yun Yang,
  • Shou-Qian Sun,
  • Ruo-Feng Tong,
  • Min Tang

摘要

Generating selfie images on the surface of a celestial body poses several challenges, including the position of the robotic arm, camera field of view, and limited shooting time. To address these challenges, the PCMIS (3D Point Cloud Matching Based Image Stitching) algorithm is designed, along with a corresponding shooting plan. This algorithm establishes a correspondence between depth and color information, enabling the generation of stitching views under any given view parameter. Furthermore, the algorithm is accelerated using GPU processing, resulting in a significant reduction in stitching time. The algorithm is successfully applied to generate selfie images for the Chang’e-5 mission.