用单光子相机提升月球极区机器人导航能力
Fast Vision in the Dark: A Case for Single-Photon Imaging in Planetary Navigation
- 采用单光子雪崩二极管相机感知微光环境
- 首次系统评估其在月球高纬度区域的导航性能
- 适合极端光照条件下行星探测任务使用
提升机器人自主导航能力对拓展探索范围和提高任务效率至关重要。基于传统CCD或CMOS相机的视觉导航在复杂光照与运动耦合条件下面临严峻挑战，限制了移动行星机器人的探测范围和可达性。本文提出一种新型行星导航方法，利用单光子雪崩二极管（SPAD）相机的独特成像能力。这是首个针对未来探测任务中感知困难区域，特别是月球高纬度地区，全面评估单光子成像作为被动感知技术替代方案的研究。文中详细阐述了SPAD相机的工作原理与性能特征，分析其在应对月球探测关键感知挑战中的优势与局限，并在代表性光照条件下对其性能进行了基准测试。
原文摘要 · Abstract (English)
Improving robotic navigation is critical for extending exploration range and enhancing operational efficiency. Vision-based navigation relying on traditional CCD or CMOS cameras faces major challenges when complex illumination conditions are paired with motion, limiting the range and accessibility of mobile planetary robots. In this study, we propose a novel approach to planetary navigation that leverages the unique imaging capabilities of Single-Photon Avalanche Diode (SPAD) cameras. We present the first comprehensive evaluation of single-photon imaging as an alternative passive sensing technology for robotic exploration missions targeting perceptually challenging locations, with a special emphasis on high-latitude lunar regions. We detail the operating principles and performance characteristics of SPAD cameras, assess their advantages and limitations in addressing key perception challenges of upcoming exploration missions to the Moon, and benchmark their performance under representative illumination conditions.
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