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该项目研究出用于空间探测机器人视觉导航和视建模的超大视场角立体视觉技术，并建立了相应的体视觉系统原理样机。该技术不仅适用于常规镜头体视觉系统恢复场景稠密深度图，也适用于恢复近离大视场场景稠密深度图，可用来确定机器人行走径方向上大视场范围内的岩石、河沟，实
The project has developed a large field of view stereoscopic vision technology for visual navigation and visual modeling of space exploration robots, and established the corresponding prototype of the body vision system prototype. This technique is not only suitable for the restoration of dense depth map of conventional lens system, but also for the restoration of dense depth map near large field of view. It can be used to determine the rock, river channel and real