Experimental Research on a Precise Terrain Reconstruction Algorithm Based on Stereo Images for the Chang’E-5 Lunar Sample Return Mission

An exact terrain reconstruction algorithm based on stereo images is proposed for the Chang’E-5 lunar sample return mission. First, the paper presents a brief introduction to the proposed algorithm. Then, an analysis of the factors influencing terrain reconstruction and the geometric transformation model between the reconstructed and measured points are described. Finally, some conclusions drawn based on the experiment results of China’s Chang’E-5 probe system are presented. The approved algorithm can achieve high accuracy (the mean distance between the reconstructed and measured points was less than 6.0 mm, and the variance was less than 13.0 mm) and stability for terrain reconstruction.