非充分光照下的单目合作目标提取算法  

A Monocular Cooperative Target Extraction Algorithm under Inadequate Illuminations

作　　者：张逸舟 许睿 曾庆化 李一能[1] 罗怡雪 ZHANG Yi-zhou;XU Rui;ZENG Qing-hua;LI Yi-neng;LUO Yi-xue(Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 211106;Key Laboratory of Navigation,Guidance and Health-management Technologies of Advanced Aerocraft,Ministry of Industry and Information Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 211106;Jiangsu Key Laboratory of Internet of Things and Control Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 211106)

机构地区：[1]南京航空航天大学导航研究中心,南京211106 [2]南京航空航天大学先进飞行器导航、控制与健康管理工业和信息化部重点实验室,南京211106 [3]南京航空航天大学江苏省物联网与控制技术重点实验室,南京211106

出　　处：《导航与控制》2022年第1期25-31,65,共8页Navigation and Control

基　　金：国家自然科学基金(编号:61533008,61374115,61603181)。

摘　　要：合作目标方案在辅助飞行器着陆、物资投递、工程量测中具有重要应用价值。为解决单目视觉定位任务中非充分光照条件下合作目标识别不准确、提取过程易丢失等问题,提出了结合改进自适应局部阈值二值化与形态学约束的轮廓提取方案。以图像明度通道值作为灰度化依据,提出使用自适应局部阈值的方法对像素点进行二值化处理,结合使用形态学约束条件筛除冗余轮廓与Douglas-Peucker算法拟合轮廓边缘,可在非充分光照条件下实现对合作目标的准确提取。实验结果表明,该算法在光照不足、光照不均条件下具有高达92.3%的标记召回率,单帧解算耗时不超过2×10^(-4)ms,兼顾了鲁棒性与实时性的使用需求。Cooperative target schemes have important application value in assisting aircraft landing,material delivery and engineering measurement.To solve inaccurate cooperative target recognition and target loss problems under inadequate illuminated conditions in the monocular location task,a contour extraction algorithm that combines improved adaptive local threshold binarization and morphological constraints is proposed.After taking the image’s brightness channel values as the grayscales,an adaptive local threshold method is designed for binarization.Combined with the morphological constraints screening out redundant contours and the Douglas-Peucker algorithm used for fitting edges,the algorithm can accurately extract cooperative targets under inadequate illuminated conditions.The experiment result shows that the algorithm has an excellent recall rate up to 92.3%under light scarcity and nonuniformity,and the solving time of a single frame is no more than 2×10^(-4)ms,which considers both robustness and real-time usage requirements.

关 键 词：合作目标 单目视觉 非充分光照 局部阈值 形态学约束 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]