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A Lunar Rock Detection Method Based on Superpixel Description

A detection method and superpixel technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problems of low rock detection accuracy and inaccurate rock boundary positioning.

Active Publication Date: 2015-12-30
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0010] The problem solved by the technology of the present invention is to overcome the low rock detection accuracy and inaccurate rock boundary positioning in the prior art, and provide a lunar surface rock detection method based on superpixel description, which improves the detection accuracy and can be more accurate geolocating rock boundaries

Method used

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  • A Lunar Rock Detection Method Based on Superpixel Description
  • A Lunar Rock Detection Method Based on Superpixel Description
  • A Lunar Rock Detection Method Based on Superpixel Description

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Embodiment Construction

[0068] Such as figure 1 Shown, the present invention is concretely realized as follows:

[0069] The lunar image rock detection method includes the following four parts: ① image smoothing; ② superpixel description; ③ sky region extraction; ④ rock region extraction. Thus, the finally detected rock area is obtained.

[0070] 1. Image smoothing:

[0071] The purpose of image smoothing is to reduce the influence of noise, which can be realized by convolution with a certain scale of Gaussian template. In scale space, image smoothing can be expressed as:

[0072] L(x,y,σ n )=G(x,y,σ n )*L(x,y,σ n-1 )

[0073] G ( x , y , σ n ) = 1 2 π σ n 2 e - ...

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Abstract

The invention discloses a lunar surface rock detection method based on super-pixel description. Firstly, anisotropic smoothness is performed on an image so that grains of lunar soil and in the area of rock can be weakened, but edge information is reserved well; further, the image is over segmented into super pixels, and with the super-pixel description method, the area of rock is detected by detecting holes. The area of rock can be detected fast with the method, and the boundary for describing the rock is accurately positioned.

Description

technical field [0001] The invention relates to a method for detecting lunar surface rocks based on superpixel description. Background technique [0002] The detection and analysis of rocks on the lunar surface provided an important basis for the autonomous navigation and ground remote control of the lunar rover. Existing lunar surface rock detection methods are mainly divided into several categories based on edge strength, based on color information, and based on texture information. [0003] Color information is the most intuitive feature in an image. Document 1 (Bajracharya, M. "Single image based hazard detection for planetary lander", World Automation Congress Orlando, FL, USA. Jun, 2002) uses local grayscale clustering to segment images into regions, which are then marked as potentially dangerous targets and surfaces. [0004] Document 2 (Shi Dele, Ye Peijian, Jia Yang, Image Segmentation and Recognition Method of Lunar Patrol, JOURNALOFJILIN UNIVERSITY, 2007) propos...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06T5/00
Inventor 邢琰刘祥刘云滕宝毅林颖龚小谨毛晓艳刘济林
Owner BEIJING INST OF CONTROL ENG
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