关键词: 立体视觉, 3D重建, 3D模型拼接, 图像匹配

Abstract: To reconstruct 3D terrain around the lunar rover from stereo image-pairs captured by the panoramic camera，based on which an intuitive platform can be put up for scientists to plan exploration commands，the authors set about to study 3D terrain registration based on stereo vision in advance.The paper presents our achievement on 3D terrain registration.When a few of local 3D terrain models have been reconstructed respectively，firstly find the common 3D points between every two adjacent local models based on edge detection and image matching，secondly fit the matrix of coordinate transformation employing the technique of separating rotation matrix and translate vector，and lastly register these local 3D models into a single coordinate system.Experimental results of reconstructing indoor and outdoor scenes show that the terrain registration method is feasible.

Key words: stereo vision, 3D reconstruction, 3D model registration, image matching