摘要
月球环境感知是未来月球车在月球表面自主导航的关键。石块作为月球表面的一种地理特征,将成为月球车行驶的障碍物。文章从模式识别的分类理论出发,提出了改进的二维类间方差的多门限阈值石块分割方法。在获取分割图像后,利用石块底部阴影信息和原始图像的灰度直方图分布特征,将分割图像二值化。然后,结合形态学滤波算法和二值图像投影变换,实现了对部分场景下的石块识别和定位。
Moon environment exploration is very important to moon vehicle autonomous navigation on moon surface. Stone as a kind feature of moon surface,it will be a kind of obstacle to moon vehicle run.In the paper,firstly,using the classification theory in pattern recognition,approach of muhithreshold stone image segmentation based on improved 2D class variance is presented.Second, Binary image is obtained by utilize the information of shadow of stone and the gray image histogram.Then,using morphological filter and projection transform,detection and position of stone is utilized in part environment.
出处
《计算机工程与应用》
CSCD
北大核心
2006年第28期230-232,共3页
Computer Engineering and Applications
关键词
月球环境
石块识别
多门限阈值
类间方差
moon environment,stone detection,muhithreshold,class variance
