Wei Quanmao, Jiang Zhiguo, Zhang Haopeng
Image Processing Center, School of Astronautics, Beihang University, Beijing 100191, China.
Beijing Key Laboratory of Digital Media, Beijing 100191, China.
Sensors (Basel). 2018 Mar 21;18(4):933. doi: 10.3390/s18040933.
Automatic component detection of spacecraft can assist in on-orbit operation and space situational awareness. Spacecraft are generally composed of solar panels and cuboidal or cylindrical modules. These components can be simply represented by geometric primitives like plane, cuboid and cylinder. Based on this prior, we propose a robust automatic detection scheme to automatically detect such basic components of spacecraft in three-dimensional (3D) point clouds. In the proposed scheme, cylinders are first detected in the iteration of the energy-based geometric model fitting and cylinder parameter estimation. Then, planes are detected by Hough transform and further described as bounded patches with their minimum bounding rectangles. Finally, the cuboids are detected with pair-wise geometry relations from the detected patches. After successive detection of cylinders, planar patches and cuboids, a mid-level geometry representation of the spacecraft can be delivered. We tested the proposed component detection scheme on spacecraft 3D point clouds synthesized by computer-aided design (CAD) models and those recovered by image-based reconstruction, respectively. Experimental results illustrate that the proposed scheme can detect the basic geometric components effectively and has fine robustness against noise and point distribution density.
航天器部件的自动检测有助于在轨运行和空间态势感知。航天器通常由太阳能板以及长方体或圆柱体模块组成。这些部件可以简单地用诸如平面、长方体和圆柱体等几何基元来表示。基于此先验知识，我们提出了一种鲁棒的自动检测方案，用于在三维（3D）点云中自动检测航天器的此类基本部件。在所提出的方案中，首先在基于能量的几何模型拟合和圆柱体参数估计的迭代中检测圆柱体。然后，通过霍夫变换检测平面，并进一步用其最小外接矩形将其描述为有界面片。最后，根据检测到的面片的成对几何关系检测长方体。在相继检测到圆柱体、平面面片和长方体之后，就可以给出航天器的中级几何表示。我们分别在由计算机辅助设计（CAD）模型合成的航天器3D点云和通过基于图像的重建恢复的点云上测试了所提出的部件检测方案。实验结果表明，所提出的方案能够有效地检测基本几何部件，并且对噪声和点分布密度具有良好的鲁棒性。
