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迭代最小二乘椭圆拟合的锥套图像检测与跟踪

DOI: 10.11834/jig.20140812

Keywords: 自主空中加油,锥套跟踪,锥套检测,图像定位,最小二乘拟合

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Abstract:

目的针对自主空中加油过程中锥套图像目标识别与定位问题,以锥套内部加油口作为匹配特征,提出一种基于圆形特征的锥套检测与跟踪方法。方法锥套跟踪采用行列扫描法获取锥套内部边缘,并通过迭代最小二乘拟合确定精确的椭圆形状参数,而锥套检测采用多方位最近点区域搜索法提取锥套所在的所有可能图像区域,并采用锥套跟踪进行精匹配和最终决策。结果实验结果表明,该方法下锥套精确定位的成功率高达94.71%,锥套检测耗时小于500ms,锥套跟踪的最大耗时为21.59ms,平均耗时4.18ms。结论本文方法无须在锥套上额外安装光学标记,且能够实时、精确地确定锥套所在的图像位置和大小。

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