Building the 3-d lunar map from lunar images is of great importance for the mission planning and navigation of the lunar rover.

基于图像建立三维月面地图对于月球车任务规划、导航控制具有重要意义。

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In order to realize the map building based on ultrasonic, a transmitting signal model is established and the D-S theory is used for updating the environment map.

利用超声发射信号模型，并使用d - S证据理论对环境地图进行更新，从而实现了基于超声的栅格地图创建。

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