KSCE Journal of Civil and Environmental Engineering Research (대한토목학회논문집)

Korean Society of Civil Engeneers (대한토목학회)
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Experiment on Low Light Image Enhancement and Feature Extraction Methods for Rover Exploration in Lunar Permanently Shadowed Region

달 영구음영지역에서 로버 탐사를 위한 저조도 영상강화 및 영상 특징점 추출 성능 실험

  • 박재민 (한국건설기술연구원 연구전략기획본부) ;
  • 홍성철 (인하대학교 공간정보공학과) ;
  • 신휴성 (한국건설기술연구원 미래스마트건설연구본부)
  • Received : 2022.03.24
  • Accepted : 2022.06.26
  • Published : 2022.10.01
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Abstract

Major space agencies are planning for the rover-based lunar exploration since water-ice was detected in permanently shadowed regions (PSR). Although sunlight does not directly reach the PSRs, it is expected that reflected sunlight sustains a certain level of low-light environment. In this research, the indoor testbed was made to simulate the PSR's lighting and topological conditions, to which low light enhancement methods (CLAHE, Dehaze, RetinexNet, GLADNet) were applied to restore image brightness and color as well as to investigate their influences on the performance of feature extraction and matching methods (SIFT, SURF, ORB, AKAZE). The experiment results show that GLADNet and Dehaze images in order significantly improve image brightness and color. However, the performance of the feature extraction and matching methods were improved by Dehaze and GLADNet images in order, especially for ORB and AKAZE. Thus, in the lunar exploration, Dehaze is appropriate for building 3D topographic map whereas GLADNet is adequate for geological investigation.

달 영구음영지역에 얼음 형태의 물이 발견되면서 주요 우주국들은 로버 중심의 현장 탐사를 준비 중이다. 달 영구음영지역은 극지역 크레이터의 중심부로 태양광이 직접 도달하지 않지만, 크레이터 벽면으로부터 반사되는 태양광으로 인해 일정 수준의 저조도 환경이 유지되는 것으로 예상된다. 본 연구에서는 달 영구음영지역의 조도와 지형환경을 모사한 실내 테스트베드를 구축하여 모의 지형영상을 촬영하였다. 모의 영상을 대상으로 저조도 영상강화 기법(CLAHE, Dehaze, RetinexNet, GLADNet)을 적용하여 밝기값과 색상복원 효과를 분석하였고, 특징점 추출 및 정합 기법(SIFT, SURF, ORB, AKAZE)의 성능 향상을 분석하였다. 실험 결과 GLADNet과 Dehaze 영상 순으로 저조도 환경에 강인한 시인성 개선 효과를 보여주었다. 반면 특징점 검출 및 정합 기법은 Dehaze와 GLADNet 영상 순으로 성능이 향상됨을 확인하였고, 특히 ORB와 AKAZE의 성능이 크게 개선되었다. 달 탐사에서 로버 탑재 카메라는 3차원 지형정보구축과 지질학적 조사에 활용된다. 따라서 GLADNet은 토양 성분과 암석 종류 판별에 유용하고, Dehaze는 로버의 주행과 함께 3차원 지형정보 구축에 적합할 것으로 판단된다.

Keywords

Acknowledgement

본 논문은 한국건설기술연구원 주요사업(극한건설 환경구현 인프라 및 TRL6 이상급 극한건설 핵심기술 개발)과 2022년 한국연구재단 기초연구사업(No.2022R1F1A1064577) 및 인하대학교 지원으로 수행된 연구로 이에 감사합니다.

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