Lunar Rover Navigation 1996--Stereo Vision

Lunar Rover Navigation 1996
Stereo Vision

Stereo Camera View


1. Grab images and vehicle pose
2. Rectify images so that scan lines align (avoids precise calibration)
3. Select windows in images containing region of interest (reduces data)
4. Match images to find disparities
Compute disparities at full resolution by normalized correlation at selected image locations
This scheme reduces data volume but does not decrease range resolution
5. Map disparities to Cartesian coordinates in Rover frame of reference


Cycle time:
1.8 seconds

Degrades quadratically with distance
2 cm at 2 m
16 cm at 8 m

Lunar Rover Navigation 1996 - (last updated in Nov. 1996)
Comments? Suggestions? Requests? Please send e-mail to