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A fast detection method of arbitrary triangles for Tethered Space Robot
文献类型:会议
作者:Cai, Jia[1]  Huang, Panfeng[2]  Chen, Lu[3]  Zhang, Bin[4]  
机构:[1]Northwestern Polytech Univ, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
[2]Northwestern Polytech Univ, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
[3]Northwestern Polytech Univ, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
[4]Northwestern Polytech Univ, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.;
年:2015
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Res Ctr Intelligent Robot, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, 127 West Youyi Rd, Xian 710072, Shaanxi, Peoples R China.
会议名称:IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议论文集:2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND
页码范围:120-125
会议地点:Zhuhai, PEOPLES R CHINA
会议开始日期:2015-01-01
收录情况:CPCI-S(WOS:000380476200021)  
所属部门:航天学院
人气指数:163
浏览次数:159
被引频次:1
语言:外文
关键词:Triangle detection; inscribed circle; geometric shape detection; recognition; Tethered Space Robot
摘要:
Concentrating on the measurement of triangular span, we present a novel detection method of arbitrary triangles for Tethered Space Robot in this paper, which is based on line extraction. Line segments are extracted firstly from the ROI containing triangular span. The distance of lines' endpoints and the proportion of gap areas to the whole area are used to acquire triangle candidates. Then we adopt the property of inscribed circle to validate the potential triangles. Comparative experiments indi ...More
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