ComputingAutonomous SystemsRobotics EngineeringComputer VisionMachine VisionSpatial VisionDepth EstimationDisparity ProcessingObject DetectionObject RecognitionObstacle DetectionStereo VisionCamera-based Obstacle DetectionCamerasRelative Height MeasurementShadow RemovalStereo CorrespondenceStereo ImagingStereo Vision Obstacle DetectionStereoscopic Height Measurement
To send a lunar landing module to the moon, it is requested to detect obstacles on the moon. It is requested to detect the 0.5 m height on the moon from 50 m high. To solve the problem, the relative stereo processing method has been introduced. The method measures the relative height from the surface of the moon. The shadows on the moon are detected from the left and right images of stereo cameras. The corresponding shadows of the left camera and the right camera are overlapped. After the overlapping, if there are some overlapping errors detected, the height of the object can be detected from the errors. The method is evaluated by the images generated by a simulation and proved its effectiveness.