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Method for detecting space moving object in dynamic environment

A technology of spatial motion and dynamic environment, applied in image data processing, instruments, calculations, etc., can solve the problems of complexity, many steps, and difficult to guarantee algorithm stability and accuracy, so as to improve the running speed, ensure real-time performance, and ensure accuracy. Effects of Sex and Reliability

Active Publication Date: 2014-07-30
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, this method needs to eliminate the camera's own motion first, which makes the entire moving target detection algorithm more complicated, with many steps, and the stability and accuracy of the entire algorithm are difficult to guarantee.

Method used

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  • Method for detecting space moving object in dynamic environment
  • Method for detecting space moving object in dynamic environment
  • Method for detecting space moving object in dynamic environment

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Embodiment Construction

[0022] The method of the invention is mainly composed of a three-dimensional reconstruction algorithm, a sparse scene flow algorithm, a scene flow clustering algorithm, an object association algorithm and the like. The method specifically includes steps as follows:

[0023] Step 1: Obtain four images of two frames before and after the binocular camera;

[0024] Step 2: Extracting feature points from the two consecutive image pairs, and retaining those corresponding reliable feature points in the four images;

[0025] Step 3: Use the parallax of the left and right images to perform 3D reconstruction on each feature point to obtain the coordinates of each feature point in the 3D world coordinate system;

[0026] Step 4: By calculating the finite difference of 5 3D positions detected by each feature point in 5 time intervals, the scene flow is approximated;

[0027] Step 5: use the detected feature points as nodes to connect using Delaunay triangulation;

[0028] Step 6: Deter...

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Abstract

The invention provides a method for detecting a space moving object in a dynamic environment. Four front-frame and back-frame images are acquired through a binocular camera, reliable feature points in the four images are extracted, three-dimensional reconstruction is conducted on the feature points, scene flow of the images is calculated, then the feature points with similar motion are clustered, and the moving object in a scene is detected.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and in particular relates to a method for detecting space moving objects with a binocular stereo camera mounted on a space tethered robot system. Background technique [0002] The space tethered robot system consists of "tethered robot + space tether + space platform". It has the characteristics of safety, flexibility, and long operating distance. On-orbit services such as auxiliary assembly of orbiting space stations have become one of the research hotspots in the field of space manipulation technology. This new type of miniature intelligent robot can approach the target autonomously in space. During the approaching process, the binocular vision measurement system carried by itself is used to detect, track and measure the target in real time. The most critical step is to automatically detect and extract moving objects in a dynamic background, which involves moving object det...

Claims

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Application Information

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IPC IPC(8): G06T7/20
Inventor 黄攀峰张彬蔡佳孟中杰刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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