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With the increasing interest in the south polar region of the Moon, there is an urgent need for high-resolution mapping products to support future exploration. Bundle block adjustment (BBA) is able to improve the spatial positioning accuracy of images used to generate high-precision mapping products. However, the impacts of weak-convergence geometry and poor illumination conditions in lunar south pole on BBA still need to be solved. This paper proposes a large-scale robust BBA method for Narrow Angle Camera (NAC) images in south pole. The NAC images are taken from the Lunar Reconnaissance Orbiter, which are scanner-type images requiring special treatment beyond the classical BBA of framing camera images. To handle the weak-convergence geometry issue of stereo NAC imagery, a topographic constraint using reference digital elevation model is integrated into BBA with an appropriate weighting scheme to estimate local topographic relief. In addition, a two-stage outlier elimination strategy for BBA with absolute-relative thresholding and iteratively reweighting methods is presented to reject outliers caused by the poor illumination conditions in lunar south pole. Thousands of images are used for experimental tests and Lunar Orbiter Laser Altimeter DEMs with different resolution are used as reference data. The satisfactory experimental results demonstrate the effectiveness and reliability of our BBA method. The proposed large-scale BBA method reduces the relative positioning errors in block network to within 1 m, and decreases the inconsistency between NAC images caused by the orientation errors to less than 0.5 pixel, which offers a reliable solution for large-scale controlled mapping.

Large-scale Block Bundle Adjustment of LROC NAC Images for Lunar South Pole Mapping Based on Topographic Constraint