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小天体软着陆中的地面特征区域提取与跟踪算法
魏若岩, 阮晓钢, 庞涛, OuattaraSIE, 武旋, 肖尧
北京工业大学, 北京 100124
摘要:
考虑到自主导航过程中的特征区域检测与跟踪问题,提出了一种新的跟踪算法.该算法是基于DIMES框架.首先,对在软着陆过程中拍摄的行星表面图像进行亮度均衡化,对处理后的图像进行二值化;然后,对二值化特征区域进行模板匹配找出高度相关位置点;最后,根据特征区域之间的几何关系确定特征区域的搜索范围,再分别提取这些相关点所代表区域的特征向量,并且与模板的特征向量进行相似性分析从而找到相似性最大的位置点.通过两组小行星表面图片进行分析验证得到了较好的效果.
关键词:  软着陆;特征跟踪;图像相关;特征向量
DOI:10.15982/j.issn.2095-7777.2014.04.011
分类号:
基金项目:国家重点基础研究发展计划(973计划)资助项目(2012CB720000);国家自然科学基金资助项目(61075110);北京市自然科学基金资助项目,北京市教育委员会科技计划重点项目(KZ201210005001);高等学校博士学科点专项科研基金资助课题(20101103110007);国家自然科学基金资助项目(61375086)
Characteristic Areas Extraction and Tracking Algonthm in the Process of Asteroid Landing
WEI Ruoyan, RUAN Xiaogang, PANG Tao, Ouattara SIE, WU Xuan, XIAO Yao
Beijing University of Technology, Beijing 100124, China
Abstract:
A new algorithm is proposed for the landmark tracking in the process of asteroid soft landing that based on the frame of DIMES. Firstly, a method of luminance equalization is used for highlight the shadow areas and light areas, and convert the image into the binary one to find the connection areas. Secondly, find the high correlation location of the binary areas by template matching. Finally, confirm the characteristic areas by the geometrical relationship of different characteristic areas, and extract the characteristic vectors of the high correlation areas, and analyze the degree of similar between areas and the land mark to find the most similarity location. Two groups of the terrain picture of asteroid are examined in the paper and the result is well.
Key words:  soft landing;characteristic tracking;image related;characteristic rector