空间交会对接位姿测量中特征靶标快速识别  

Fast recognition of characteristic targets in spatial rendezvous and docking posture measurement

作　　者：罗小依 张莉君[2] 贺晓斌 张琴 施英莹 徐燕铭 Luo Xiaoyi;Zhang Lijun;He Xiaobin;Zhang Qin;Shi Yingying;Xu Yanming(Shanghai Aerospace Equipment Manufactory Co.,Ltd.,Shanghai 200245,China;School of Automation China University of Geosciences(Wuhan),Wuhan 430070,China)

机构地区：[1]上海航天设备制造总厂有限公司,上海200245 [2]中国地质大学(武汉),湖北武汉430070

出　　处：《电子技术应用》2019年第10期83-87,共5页Application of Electronic Technique

摘　　要：空间交会对接中,需实时测量追踪航天器上视觉传感器与目标航天器上特征靶标之间的位姿,而其前提是快速、准确识别特征靶标。提出一种四同心圆环特征靶标的快速识别算法。该算法首先使用优化的Otsu算法进行图像分割,然后采用连通域识别方法进行轮廓提取,最后根据圆的周长与面积的关系确定圆轮廓,并采用最小二乘法进行圆拟合,提取特征圆心。通过实验对方法进行验证,结果表明,该方法能在2m距离内准确、快速识别特征靶标,且与优化前算法相比,该方法运算效率提升了近10倍。In the space rendezvous and docking, real-time measurement of the position and attitude between the visual sensor on the tracking spacecraft and the characteristic target on the target spacecraft is needed, and the premise is to quickly and accurately identify the feature targets. In this paper, a fast recongnition algorithm of four concentric ring feature targets is proposed. Firstly,the algorithm uses the optimized Otsu for image segmentation. Then the contour is extracted by the connected region recognition method. Finally, according to the relationship between the circumference and the area of the circle, the circle is determined, and the least square method is used to fit the circle and extract the center of the feature circle. The experimental results show that the method can recognize feature targets accurately and quickly within 2 m distance, and the computational efficiency to the method is improved by nearly 10 times compared with the pre-optimization algorithm.

关 键 词：机器视觉 特征靶标 目标识别 圆识别 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] V19[自动化与计算机技术—计算机科学与技术]