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  4. On-orbit real-time robust cooperative target identification in complex background
 
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2015
Journal Article
Title

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

Abstract
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.
Author(s)
Zhuoman, Wen
Changchun Institute of Applied Chemistry (CIAC) / Univ. of Beijing
Yanjie, Wang
Changchun Institute of Applied Chemistry (CIAC)
Kuijper, Arjan  orcid-logo
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Nan, Di
Changchun Institute of Applied Chemistry (CIAC)
Jun, Luo
Changchun Institute of Applied Chemistry (CIAC) / Univ. of Beijing
Lei, Zhang
Changchun Institute of Applied Chemistry (CIAC) / Univ. of Beijing
Minghe, Jin
Harbin Institute of Technology
Journal
Chinese journal of aeronautics  
Open Access
DOI
10.1016/j.cja.2015.08.006
Language
English
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Keyword(s)
  • Business Field: Virtual engineering

  • Business Field: Digital society

  • Research Line: Computer vision (CV)

  • robot vision

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