| 行星表面陨石坑检测与匹配方法 |
| |
| 引用本文： | 冯军华,崔祜涛,崔平远,田阳.行星表面陨石坑检测与匹配方法[J].航空学报,2010,31(9):1858-1863. |
| |
| 作者姓名： | 冯军华 崔祜涛 崔平远 田阳 |
| |
| 作者单位： | 1. 哈尔滨工业大学,深空探测基础研究中心,黑龙江,哈尔滨,150080
2. 北京理工大学,深空探测技术研究所,北京,100083 |
| |
| 摘 要： | 针对深空探测器光学导航技术的需要，提出了行星表面陨石坑导航路标的提取与匹配方法。陨石坑是行星表面最显著的地形特征,在光照条件下,陨石坑具有清晰的几何轮廓。结合光照方向,通过陨石坑边缘的检测、边缘配对以及形状参数拟合等处理实现陨石坑的提取。对检测出的陨石坑,基于平面二次曲线的几何不变特性,采用投票策略实现与陨石坑数据库的匹配,并设计陨石坑误匹配及失配的校正策略,从而有效地确定陨石坑在目标天体表面的全局位置。最后通过嫦娥一号获得的目表图像验证了所提方法的有效性和可行性。
|
| 关 键 词： | 行星软着陆 光学导航 陨石坑路标 陨石坑检测 陨石坑匹配 |
Autonomous Crater Detection and Matching on Planetary Surface |
| |
| Feng Junhua,Cui Hutao,Cui Pingyuan,Tian Yang.Autonomous Crater Detection and Matching on Planetary Surface[J].Acta Aeronautica et Astronautica Sinica,2010,31(9):1858-1863. |
| |
| Authors: | Feng Junhua Cui Hutao Cui Pingyuan Tian Yang |
| |
| Institution: | 1. Deep Space Exploration Research Center, Harbin Institute of Technology2. Institute of Deep Space Exploration, Beijing Institute of Technology |
| |
| Abstract: | This article presents a crater landmark detection and matching method for pinpoint navigation for planetary exploration. Craters are the most notable terrain features with clear outlines in lighting conditions. While taking into consideration the direction of the lighting source, the craters are detected through edge detection, edge clustering of the same crater and ellipse fitting. Based on the geometric invariants of coplanar conics, the voting strategy is used to match the detected craters with the crater database. Besides, a false match and miss match revision strategy is proposed to obtain the crater’s accurate global position. Lunar surface images obtained by Chang’ e-1 are given to show the feasibility of the proposed method. |
| |
| Keywords: | planetary landing optical navigation crater landmark crater detection crater matching |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《航空学报》浏览原始摘要信息 |
| 点击此处可从《航空学报》下载免费的PDF全文 |
|
