Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation
Landing point localization is of great significance to the lunar exploration engineering and scientific missions. Vision-based landing point localization methods have successfully been utilized in Chang'e series missions. The issues in landing point visual localization task containing low...
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IEEE
2025-01-01
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| Series: | IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing |
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| Online Access: | https://ieeexplore.ieee.org/document/10753085/ |
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| author | Xiaohua Tong Yaxuan Feng Zhen Ye Tao Li Xiong Xu Huan Xie Jie Yu Yubing Jiao Jia Qian Genyi Wan Shijie Liu Yusheng Xu |
| author_facet | Xiaohua Tong Yaxuan Feng Zhen Ye Tao Li Xiong Xu Huan Xie Jie Yu Yubing Jiao Jia Qian Genyi Wan Shijie Liu Yusheng Xu |
| author_sort | Xiaohua Tong |
| collection | DOAJ |
| description | Landing point localization is of great significance to the lunar exploration engineering and scientific missions. Vision-based landing point localization methods have successfully been utilized in Chang'e series missions. The issues in landing point visual localization task containing low-resolution reference maps, illumination changes between descent images and maps, and low automation of the localization workflow still need to be solved. In this article, a high-precision and automatic landing point visual localization method with high-resolution map generation is proposed, including initial localization of the first frame, hybrid fine matching, landing point propagation in descent sequence images, and absolute position estimation for landing point. High-resolution digital elevation model and digital orthophoto map (DOM) are generated from Lunar Reconnaissance Orbiter Camera Narrow Angle Camera images and SLDEM2015 data. Phase-based image matching method is adopted for initial localization and matching between descent image and reference map to enhance the illumination robustness. The performance of our method is validated using the descent sequence images from Chang'e series missions. For Chang'e-6 lander, the estimated landing point coordinates are (<inline-formula><tex-math notation="LaTeX">$-$</tex-math></inline-formula>153.9870<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula> <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 0.00002<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula>, <inline-formula><tex-math notation="LaTeX">$-$</tex-math></inline-formula>41.6378<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula> <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula>0.00001<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula>, <inline-formula><tex-math notation="LaTeX">$-$</tex-math></inline-formula>5256.962 m <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 0.0041 m). Compared with the manually measured lander coordinates, the deviation of landing point position is less than 1 pixel in DOM. |
| format | Article |
| id | doaj-art-09ab7865b68c4aecaf1ef6a2d7ce8b74 |
| institution | Kabale University |
| issn | 1939-1404 2151-1535 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing |
| spelling | doaj-art-09ab7865b68c4aecaf1ef6a2d7ce8b742024-12-12T00:00:14ZengIEEEIEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing1939-14042151-15352025-01-01181577159110.1109/JSTARS.2024.349835110753085Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map GenerationXiaohua Tong0https://orcid.org/0000-0002-1045-3797Yaxuan Feng1https://orcid.org/0009-0001-9679-2342Zhen Ye2https://orcid.org/0000-0002-7178-9817Tao Li3Xiong Xu4https://orcid.org/0000-0003-3510-4160Huan Xie5https://orcid.org/0000-0003-3272-7848Jie Yu6Yubing Jiao7Jia Qian8Genyi Wan9https://orcid.org/0009-0007-5903-9398Shijie Liu10https://orcid.org/0000-0002-5941-0763Yusheng Xu11https://orcid.org/0000-0001-5571-7808College of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaBeijing Institute of Control Engineering, Beijing, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaBeijing Institute of Control Engineering, Beijing, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaCollege of Surveying and Geo-Informatics, Tongji University, Shanghai, ChinaLanding point localization is of great significance to the lunar exploration engineering and scientific missions. Vision-based landing point localization methods have successfully been utilized in Chang'e series missions. The issues in landing point visual localization task containing low-resolution reference maps, illumination changes between descent images and maps, and low automation of the localization workflow still need to be solved. In this article, a high-precision and automatic landing point visual localization method with high-resolution map generation is proposed, including initial localization of the first frame, hybrid fine matching, landing point propagation in descent sequence images, and absolute position estimation for landing point. High-resolution digital elevation model and digital orthophoto map (DOM) are generated from Lunar Reconnaissance Orbiter Camera Narrow Angle Camera images and SLDEM2015 data. Phase-based image matching method is adopted for initial localization and matching between descent image and reference map to enhance the illumination robustness. The performance of our method is validated using the descent sequence images from Chang'e series missions. For Chang'e-6 lander, the estimated landing point coordinates are (<inline-formula><tex-math notation="LaTeX">$-$</tex-math></inline-formula>153.9870<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula> <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 0.00002<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula>, <inline-formula><tex-math notation="LaTeX">$-$</tex-math></inline-formula>41.6378<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula> <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula>0.00001<inline-formula><tex-math notation="LaTeX">$^{\circ }$</tex-math></inline-formula>, <inline-formula><tex-math notation="LaTeX">$-$</tex-math></inline-formula>5256.962 m <inline-formula><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 0.0041 m). Compared with the manually measured lander coordinates, the deviation of landing point position is less than 1 pixel in DOM.https://ieeexplore.ieee.org/document/10753085/Chang'e-6high-resolution mapillumination robust matchinglanding point localization |
| spellingShingle | Xiaohua Tong Yaxuan Feng Zhen Ye Tao Li Xiong Xu Huan Xie Jie Yu Yubing Jiao Jia Qian Genyi Wan Shijie Liu Yusheng Xu Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing Chang'e-6 high-resolution map illumination robust matching landing point localization |
| title | Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation |
| title_full | Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation |
| title_fullStr | Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation |
| title_full_unstemmed | Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation |
| title_short | Illumination Robust Landing Point Visual Localization for Lunar Lander With High-Resolution Map Generation |
| title_sort | illumination robust landing point visual localization for lunar lander with high resolution map generation |
| topic | Chang'e-6 high-resolution map illumination robust matching landing point localization |
| url | https://ieeexplore.ieee.org/document/10753085/ |
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