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

作　　者：Wen Zhuoman Wang Yanjie Arjan Kuijper Di Nan Luo Jun Zhang Lei Jin Minghe 

机构地区：[1]Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences [2]University of the Chinese Academy of Sciences [3]Fraunhofer Institute for Computer Graphics Research [4]Technische Universitt Darmstadt [5]State Key Laboratory of Robotics and System, Harbin Institute of Technology

出　　处：《Chinese Journal of Aeronautics》2015年第5期1451-1463,共13页中国航空学报（英文版）

基　　金：supported by the National Basic Research Program of China (No. 2013CB733103)

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 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.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.

关 键 词：Circle detection Edge extraction Edge tracking Line detection Robot vision Space robot arm 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] V411.4[自动化与计算机技术—计算机科学与技术]