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Vision-Based Object Recognition and Precise Localization for Space Body Control
Joint Authors
Shangguan, Zeyu
Wang, Lingyu
Zhang, Jianquan
Dong, Wenbo
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-03-25
Country of Publication
Egypt
No. of Pages
10
Abstract EN
The space motion control is an important issue on space robot, rendezvous and docking, small satellite formation, and some on-orbit services.
The motion control needs robust object detection and high-precision object localization.
Among many sensing systems such as laser radar, inertia sensors, and GPS navigation, vision-based navigation is more adaptive to noncontact applications in the close distance and in high-dynamic environment.
In this work, a vision-based system serving for a free-floating robot inside the spacecraft is introduced, and the method to measure space body 6-DOF position-attitude is presented.
At first, the deep-learning method is applied for robust object detection in the complex background, and after the object is navigated at the close distance, the reference marker is used for more precise matching and edge detection.
After the accurate coordinates are gotten in the image sequence, the object space position and attitude are calculated by the geometry method and used for fine control.
The experimental results show that the recognition method based on deep-learning at a distance and marker matching in close range effectively eliminates the false target recognition and improves the precision of positioning at the same time.
The testing result shows the recognition accuracy rate is 99.8% and the localization precision is far less than 1% in 1.5 meters.
The high-speed camera and embedded electronic platform driven by GPU are applied for accelerating the image processing speed so that the system works at best by 70 frames per second.
The contribution of this work is to introduce the deep-learning method for precision motion control and in the meanwhile ensure both the robustness and real time of the system.
It aims at making such vision-based system more practicable in the real-space applications.
American Psychological Association (APA)
Shangguan, Zeyu& Wang, Lingyu& Zhang, Jianquan& Dong, Wenbo. 2019. Vision-Based Object Recognition and Precise Localization for Space Body Control. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1156862
Modern Language Association (MLA)
Shangguan, Zeyu…[et al.]. Vision-Based Object Recognition and Precise Localization for Space Body Control. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-10.
https://search.emarefa.net/detail/BIM-1156862
American Medical Association (AMA)
Shangguan, Zeyu& Wang, Lingyu& Zhang, Jianquan& Dong, Wenbo. Vision-Based Object Recognition and Precise Localization for Space Body Control. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1156862
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1156862