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A Triangular Sailboard Bracket Recognition Method Applicable to Space Non-cooperative Targets

A non-cooperative target and identification method technology, applied in the field of automatic identification of non-cooperative satellite triangular sailboard brackets, can solve the problems of system instability and low autonomy, achieve high positioning accuracy, less time-consuming, and reduce interference Effect

Active Publication Date: 2017-11-28
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

This method is greatly affected by transmission delay and transmission reliability, and the whole system will be unstable when the delay is large; moreover, it is not "autonomous" because it requires the direct participation of operators

Method used

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  • A Triangular Sailboard Bracket Recognition Method Applicable to Space Non-cooperative Targets
  • A Triangular Sailboard Bracket Recognition Method Applicable to Space Non-cooperative Targets
  • A Triangular Sailboard Bracket Recognition Method Applicable to Space Non-cooperative Targets

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that the described embodiments are only intended to facilitate the understanding of the present invention, and do not limit it in any way.

[0037] like figure 1 As shown, the triangular area automatic recognition method provided by the embodiment of the present invention includes:

[0038] (1) Image collection: use the camera to collect the target image;

[0039] (2) Image filtering: Perform median filtering and Wiener filtering on the collected images to eliminate noise interference and obtain a smooth target image;

[0040] (3) Edge detection: edge detection is performed on the two images respectively to obtain edge feature information;

[0041] (4) Straight line extraction: adopt directional Hough transform to carry out straight line extraction to the image after edge detection, obtain each straight line information including each straight lin...

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Abstract

The invention provides a triangular sailboard support frame identification method applicable to a space non-cooperative target. According to the method, on the basis of geometrical characteristic differences of a target connecting frame and a background, a boundary straight line section on a target object is used as an identification basis, and the monocular vision is utilized for identifying a non-cooperative target triangular sailboard support frame. The method concretely comprises the following steps that: 1, a target image is collected and filtered, then, marginal points are extracted, and a marginal image I3 is obtained; 2, the directional Hough conversion is adopted for carrying out linear extraction on the image I3 obtained in the first step, and each straight line information including each straight line of the triangular support frame is obtained; 3, from all straight line information extracted in the second step, a dynamic planning searching algorithm is adopted for identifying straight lines corresponding to the triangular sailboard support frame; and 4, the vertexes of a triangle are calculated by utilizing the straight lines corresponding to the triangular support frame identified in the third step.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and in particular relates to an automatic recognition method for a non-cooperative satellite triangular sailboard support mounted on a space tether robot visual perception system. Background technique [0002] The space tethered robot system consists of "space tethered robot + space tether + space platform", which has the characteristics of safety, flexibility, and long operating distance. On-orbit services such as auxiliary assembly of on-orbit space stations have become one of the research hotspots in the field of space manipulation technology. This new type of miniature intelligent robot can approach the target autonomously in space. During the approaching process, the binocular vision measurement system carried by itself is used to detect, identify, track and measure the target in real time. The most critical step is how to quickly and automatically identify the region of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/54
Inventor 黄攀峰蔡佳王东科台健生龚思怡
Owner NORTHWESTERN POLYTECHNICAL UNIV
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