3D Point Cloud Matching Based Selfie Generation for Chang’e-5

Generating selfie images on the surface of a celestial body poses several challenges, including the position of the robotic arm, camera field of view, and limited shooting time. To address these challenges, a 3D point cloud matching-based image stitching algorithm was designed, along with a cor responding shooting plan. This algorithm established a correspondence be tween depth and color information, enabling the generation of stitching views under any given view parameter. Furthermore, the algorithm was acceler ated using GPU processing, resulting in a significant reduction in stitching time. The algorithm was successfully applied to generate selfie images for the Chang’e-5 mission.