TY - GEN
T1 - Drogue detection and tracking method for monocular-vision-based autonomous aerial refueling
AU - Qin, Yong
AU - Wang, Honglun
AU - Yao, Peng
AU - Li, Dawei
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - Drogue detection for vision-based probe-drogue autonomous aerial refueling is a challenging task due to disorderly motion of drogue caused by both the tanker wake vortex and atmospheric turbulence. In this paper, a drogue detection method based on drogue inner part's shape features is proposed. Drogue detection is divided into two processes: rough detection and fine location of drogue. The drogue inner part's circular feature is introduced into the drogue rough detection model. Row-column scanning method is proposed to the fine location of drogue. The ellipse least-square fitting is used to obtain the drogue contours' center. Based on drogue image size and drogue image position, we can obtain the tracking region of interest (ROI) area. We proposed a switch rule between drogue detection and drogue tracking. We have experiments on three real autonomous aerial refueling videos. The results show that the proposed method is effective.
AB - Drogue detection for vision-based probe-drogue autonomous aerial refueling is a challenging task due to disorderly motion of drogue caused by both the tanker wake vortex and atmospheric turbulence. In this paper, a drogue detection method based on drogue inner part's shape features is proposed. Drogue detection is divided into two processes: rough detection and fine location of drogue. The drogue inner part's circular feature is introduced into the drogue rough detection model. Row-column scanning method is proposed to the fine location of drogue. The ellipse least-square fitting is used to obtain the drogue contours' center. Based on drogue image size and drogue image position, we can obtain the tracking region of interest (ROI) area. We proposed a switch rule between drogue detection and drogue tracking. We have experiments on three real autonomous aerial refueling videos. The results show that the proposed method is effective.
UR - https://www.scopus.com/pages/publications/85015212248
U2 - 10.1109/CGNCC.2016.7828851
DO - 10.1109/CGNCC.2016.7828851
M3 - 会议稿件
AN - SCOPUS:85015212248
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 586
EP - 591
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -