Generation of stereo images for Mastcam imagers

Rongjun Qin; Chiman Kwan; Bulent Ayhan

doi:10.1117/12.2557865

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24 April 2020 Generation of stereo images for Mastcam imagers

Rongjun Qin, Chiman Kwan, Bulent Ayhan

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Proceedings Volume 11392, Algorithms, Technologies, and Applications for Multispectral and Hyperspectral Imagery XXVI; 1139207 (2020) https://doi.org/10.1117/12.2557865
Event: SPIE Defense + Commercial Sensing, 2020, Online Only

Abstract

There are two multispectral Mastcam imagers in the Mars Science Laboratory (MSL) onboard the Mars rover Curiosity. The left imager has low resolution whereas the right imager is just the opposite. Most of the time, the two imagers work independently. It will be interesting to explore the possibility of fusing the two left and right images to produce stereo images. However, the extremely short baseline of the stereo images challenges the stereo 3D reconstruction. In this paper, we tested the feasibility of using Mastcam images for stereo 3D reconstruction. We took a five-point algorithm to perform the epipolar rectification and then performed a census-based semi-global matching algorithm on the rectified stereo pairs to produce disparity maps. Preliminary tests using Mastcam images of two scenes were performed to test the robustness of the processing pipeline.

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Rongjun Qin, Chiman Kwan, and Bulent Ayhan "Generation of stereo images for Mastcam imagers", Proc. SPIE 11392, Algorithms, Technologies, and Applications for Multispectral and Hyperspectral Imagery XXVI, 1139207 (24 April 2020); https://doi.org/10.1117/12.2557865

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