Volume calculator soil
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However, analyses have indicated that the reconstruction result is severely restricted by the field of view of the camera and that the reconstruction range is limited to the overlapping field of view of the binocular cameras. This technology can detect the lunar surface topography and assist in obstacle avoidance. The obstacle avoidance cameras are binocular cameras fixed under the lander that can be used to reconstruct three-dimensional terrain in front of the lander based on binocular stereomatching technology. Navigation cameras and panoramic cameras are not suitable for terrain reconstruction due to the associated installation angle and functional design constraints. Most lunar landers are fixed with navigation cameras, panoramic cameras, and obstacle avoidance cameras.
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To achieve the above objectives, the correct image acquisition device must be chosen. Then, the soil area can be analyzed by comparing the results of the reconstruction to estimate the amount of collected soil. Because a large number of visible light cameras are distributed on the lander, if they can be effectively used, it is possible to reconstruct the collection area before and after soil acquisition using 3D reconstruction technology. Additionally, the accuracy of a TOF camera can only reach the order of cm, which often fails to meet the measurement requirements. However, installing a structured light camera or TOF camera on a detector can also increase the design difficulty of the lander. The sensors currently available for reconstructing small-scale 3D terrain include structured light cameras, time of flight (TOF) cameras, and visible light cameras. With the continuous development of 3D reconstruction technology, it has become feasible to indirectly calculate the collection amount by analyzing the variation in the three-dimensional shape of the soil collection area. However, due to the constraints of the lander design, quality restrictions, etc., quality measuring equipment is usually not specifically installed for these types of measurements. Researchers often want to estimate the collected soil volume during sampling tasks, and weighing is the most direct way of doing so.
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Soil collection is an important task for lunar landers working on the moon. Experiments show that the method is stable and reliable and can meet the requirements of actual measurement tasks. Based on the area of change associated with soil collection, the constructed dense point clouds are compared according to the topographic characteristics of the area to estimate the volume of soil collected.
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Additionally, bi-temporal dense point clouds are reconstructed. This method uses a sequence of images of the collection area captured by the camera mounted on the acquisition arm to accurately reconstruct the terrain of the collection area surface before and after soil acquisition. To fully use the sensors already installed, a collected soil volume measurement method is designed in this paper based only on a single monitoring camera. Due to the design constraints of the lander, there is no additional installation position for volume measurement equipment. In the task of lunar soil collection, estimating the volume of the collected soil is an important part of the sampling control of the lander.