Detection and Tracking Strategies for Autonomous Aerial Refuelling Tasks Based on Monocular Vision

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	Detection and Tracking Strategies for Autonomous Aerial Refuelling Tasks Based on Monocular Vision
	Yin, Yingjie; Xu, De; Wang, Xingang; Bai, Mingran
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2014-07-09
卷号	11 页码:1-8
关键词	Positioning Monocular Vision Visual Detection Visual Tracking Particle Filter Aerial Refuelling
英文摘要	Detection and tracking strategies based on monocular vision are proposed for autonomous aerial refuelling tasks. The drogue attached to the fuel tanker aircraft has two important features. The grey values of the drogue's inner part are different from the external umbrella ribs, as shown in the image. The shape of the drogue's inner dark part is nearly circular. According to crucial prior knowledge, the rough and fine positioning algorithms are designed to detect the drogue. Particle filter based on the drogue's shape is proposed to track the drogue. A strategy to switch between detection and tracking is proposed to improve the robustness of the algorithms. The inner dark part of the drogue is segmented precisely in the detecting and tracking process and the segmented circular part can be used to measure its spatial position. The experimental results show that the proposed method has good performance in real-time and satisfied robustness and positioning accuracy.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	SYSTEM ; SIMULATION
收录类别	SCI
语种	英语
WOS记录号	WOS:000339247300001
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3052]
专题	精密感知与控制研究中心_精密感知与控制
作者单位	Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Yin, Yingjie,Xu, De,Wang, Xingang,et al. Detection and Tracking Strategies for Autonomous Aerial Refuelling Tasks Based on Monocular Vision[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2014,11:1-8.
APA	Yin, Yingjie,Xu, De,Wang, Xingang,&Bai, Mingran.(2014).Detection and Tracking Strategies for Autonomous Aerial Refuelling Tasks Based on Monocular Vision.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,11,1-8.
MLA	Yin, Yingjie,et al."Detection and Tracking Strategies for Autonomous Aerial Refuelling Tasks Based on Monocular Vision".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 11(2014):1-8.