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A TSR Visual Servoing System Based on a Novel Dynamic Template Matching Method
文献类型:期刊
作者:Cai, Jia[1]  Huang, Panfeng[2]  Zhang, Bin[3]  Wang, Dongke[4]  
机构:[1]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi��an, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi��an, China
[2]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi��an, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi��an, China
[3]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi��an, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi��an, China
[4]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi��an, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi��an, China
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China.
年:2015
期刊名称:SENSORS影响因子和分区
卷:15
期:12
页码范围:32152-32167
增刊:正刊
学科:化学
收录情况:SCI(E)(WOS:000367539100142)  EI(20155201730413)  (26703609)  
所属部门:航天学院
被引频次:10
人气指数:711
浏览次数:702
基金:National Natural Science Foundation of China [11272256, 60805034]; Doctorate Foundation of Northwestern Polytechnical University [CX201304]
关键词:Tethered Space Robot; object recognition; template matching; visual servoing; target tracking
摘要:
The so-called Tethered Space Robot (TSR) is a novel active space debris removal system. To solve its problem of non-cooperative target recognition during short-distance rendezvous events, this paper presents a framework for a real-time visual servoing system using non-calibrated monocular-CMOS (Complementary Metal Oxide Semiconductor). When a small template is used for matching with a large scene, it always leads to mismatches, so a novel template matching algorithm to solve the problem is prese ...More
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