A novel global relaxation iteration algorithm for panoramic annular 3D terrain registration

It is necessary to reconstruct a large-scale landing-site mapping by recovering and registering the local scenes into a uniform annular scene for planetary exploration missions. This paper proposed a global relax iterative optimization method to registering the local scenes into a uniform annular scene. For this scheme, the transform matrix between any two adjacent 3D local scenes is fitted based on Carley transform. Subsequently, these local 3D scenes are registered into a uniform coordinate system using relax iterative optimization method. This optimization method has been tested on the image sequence of outdoor scenes. Experimental results show that the global registration means error decreases significantly from 1.33 meters to 0.002 meters in 47 images.