On-orbit real-time robust cooperative target identification in complex background

	On-orbit real-time robust cooperative target identification in complex background
	Wen, Z. M.; Y. J. Wang; A. Kuijper; N. Di; J. Luo; L. Zhang and M. H. Jin
	2015
发表期刊	Chinese Journal of Aeronautics
卷号	28 期号:5 页码:1451-1463
摘要	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 onorbit 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. (C) 2015 Production and hosting by Elsevier Ltd. on behalf of CSAA & BUAA.
收录类别	SCI ; EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/55474
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Wen, Z. M.,Y. J. Wang,A. Kuijper,et al. On-orbit real-time robust cooperative target identification in complex background[J]. Chinese Journal of Aeronautics,2015,28(5):1451-1463.
APA	Wen, Z. M.,Y. J. Wang,A. Kuijper,N. Di,J. Luo,&L. Zhang and M. H. Jin.(2015).On-orbit real-time robust cooperative target identification in complex background.Chinese Journal of Aeronautics,28(5),1451-1463.
MLA	Wen, Z. M.,et al."On-orbit real-time robust cooperative target identification in complex background".Chinese Journal of Aeronautics 28.5(2015):1451-1463.

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