Abstract
Docking ring is a circular hatch of spacecraft that allows servicing spacecraft to dock in various space missions. The detection of the ring is greatly beneficial to automatic capture, rendezvous and docking. Based on its geometrical shape, we propose a real-time docking ring detection method for on-orbit spacecraft. Firstly, we extract arcs from the edge mask and classify them into four classes according to edge direction and convexity. By developing the arc selection strategy, we select a combination of arcs possibly belonging to the same ellipse, and then estimate its parameters via the least squares fitting technique. Candidate ellipses are validated according to the fitness of the estimation with the actual edge pixels. The experiments show that our method is superior to the state-of-the-art methods, and can be used in real time application. The method can also be extended to other applications.
Highlights
With the development of space exploration, the on-orbit service [1] of automatic orbital capture and repair mechanism for faulty spacecraft [2,3,4,5] has become an urgent need
We proposed an accurate and fast detection method for docking ring, which consists of three steps: arc extraction, ellipse parameters estimation, and validity verification
We proposed a docking ring detection algorithm based on geometrical shape from
Summary
With the development of space exploration, the on-orbit service [1] of automatic orbital capture and repair mechanism for faulty spacecraft [2,3,4,5] has become an urgent need. In order to achieve the automatic on-orbit service, vision system is widely used to acquire the pose of the target spacecraft. The ellipse parameters are usually used as input in the pose estimation procedure, so our goal is to get the ellipse parameters in the image. It is different from conventional object detection tasks [14]
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