Implementation of Multi-Target Capture Algorithm of Space Robot Based on DSP

摘要：

In order to correctly capture spatial targets from cluttered and motive celestial background, a new algorithm is proposed, which is a comparative difference algorithm based on the combination of centroid extraction and despun registration of efficient points. Furthermore, this algorithm is implemented in an image processing system based on the DSP chip TMS320C6701 featuring high speed and high performance. The procedures of image processing are as follows: first, label efficient points in the frame and extract their centroids; second, make appropriate despun registration, according to the reference rotation angles provided by Space Robot position system; then, translate and register centroid coordinates of efficient points in reference frames and get the registration points according to the principle that there are the most same centroid coordinates of efficient points when completely registered; finally eliminate the same background points by using comparative difference method. The result shows that this image processing system can satisfy the needs of the whole system.

关键词： Space Robot centroid registration comparative difference image processing system

作者: MA Xiaona HU Bingliang LIU Xuebin LIU Hui LIU Qianwen

作者单位: Laboratory of Spectral Imaging Technology Xian Institute of Optics and Precision Mechanics, Chinese Laboratory of Spectral Imaging Technology Xian Institute of Optics and Precision Mechanics, Chinese Laboratory of Spectral Imaging Technology Xian Institute of Optics and Precision Mechanics, Chinese

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-7

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）