کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
757201 1462505 2015 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
On-orbit real-time robust cooperative target identification in complex background
ترجمه فارسی عنوان
شناسایی هدف مشترک در زمان واقعی در مدار در پس زمینه پیچیده
کلمات کلیدی
تشخیص دایره، استخراج لبه، ردیابی لبه، تشخیص خط، دیدگاه ربات، بازوی فضایی فضایی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی

Cooperative target identification is the prerequisite for the relative position and orientation measurement between the space robot arm and the to-be-arrested object. We propose an on-orbit real-time robust algorithm for cooperative target identification in complex background using the features of circle and lines. It first extracts only the interested edges in the target image using an adaptive threshold and refines them to about single-pixel-width with improved non-maximum suppression. Adapting a novel tracking approach, edge segments changing smoothly in tangential directions are obtained. With a small amount of calculation, large numbers of invalid edges are removed. From the few remained edges, valid circular arcs are extracted and reassembled to obtain circles according to a reliable criterion. Finally, the target is identified if there are certain numbers of straight lines whose relative positions with the circle match the known target pattern. Experiments demonstrate that the proposed algorithm accurately identifies the cooperative target within the range of 0.3–1.5 m under complex background at the speed of 8 frames per second, regardless of lighting condition and target attitude. The proposed algorithm is very suitable for real-time visual measurement of space robot arm because of its robustness and small memory requirement.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Chinese Journal of Aeronautics - Volume 28, Issue 5, October 2015, Pages 1451–1463
نویسندگان
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