论文:2014,Vol:32,Issue(2):220-226
引用本文:
龚思怡, 黄攀峰, 鹿振宇, 蔡佳. 基于区域生长Hough变换的卫星帆板检测方法研究[J]. 西北工业大学
Gong Siyi, Huang Panfeng, Lu Zhengyu, Cai Jia. A Satellite Solar Panel Support Detection Algorithm Based on Region Growing Hough Transform[J]. Northwestern polytechnical university

基于区域生长Hough变换的卫星帆板检测方法研究
龚思怡1,2, 黄攀峰1,2, 鹿振宇1,2, 蔡佳1,2
1. 西北工业大学 航天学院 智能机器人研究中心, 陕西 西安 710012;
2. 西北工业大学 航天飞行动力学技术重点实验室, 陕西 西安 710012
摘要:
针对空间绳系机器人在轨捕获任务中,对非合作目标卫星帆板支架线条提取时出现的直线段重复交叉检测、运行速度慢等问题,提出一种区域生长Hough变换算法。该算法利用区域生长算法对种子节点周围的邻域进行拓展,通过对生长区域内的点进行Hough变换检测,逐步缩小新的拓展点的搜索范围,从而降低计算量。同时,利用角度范围限定和动态聚类的方法解决了Hough变换中检测直线过多和直线交点检测的问题。实验表明,该算法计算速度较快,计算精度较高,能够解决Hough变换中同一直线多次检测的问题,可以满足空间绳系机器人在轨抓捕任务的要求。
关键词:    计算机仿真    实验    卫星    卫星帆板支架检测    生长Hough变换    动态聚类   
A Satellite Solar Panel Support Detection Algorithm Based on Region Growing Hough Transform
Gong Siyi1,2, Huang Panfeng1,2, Lu Zhengyu1,2, Cai Jia1,2
1. Research Center of Intelligent Robotics, College of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
To accomplish the real-time detection of satellite solar panel support when the Tethered Space Robot (TSR) captures non-cooperative target satellite, a novel Hough transform based on the thought of Region Growth Algorithm is proposed. The Region Growth Algorithm is employed to enlarge the boundary of the set pixels;after the detection of the every single pixel in the growing region using Hough transform, the searching boundary of the new set pixels is gradually reduced so that the amount of calculation is decreased. In addition, the limit of angle range and the dynamic clustering method solve the problem of excessive linear detection as well as the intersection point detection of Hough transform. The experiment results and their analysis show preliminarily that the proposed method can detect accurately with less computational time, and can also solve the problem of Hough transform that one line may be detected for several times. Each result can satisfy the requirement of TSR on-orbit grasp task.
Key words:    Computer simulation    Experiments    Satellites    Satellite solar panel support detection    Growing Hough transform    Dynamic clustering algorithms   
收稿日期: 2013-10-18     修回日期:
DOI:
基金项目: 国家自然科学基金(11272256、61005062);西北工业大学博士论文创新基金(CX201304)资助
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作者简介: 龚思怡(1990-),女,西北工业大学硕士研究生,主要从事空间机器人视觉导航与图像处理研究。
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