Natural Feature Image Recognition (NFIR) is camera based robotic vision system for recognition, acquisition, tracking and pose estimation of a Target Vehicle. This paper presents our on-going work on development of the capability of the NFIR software in recognition and acquisition for Autonomous Rendezvous and Docking. The heart of the acquisition algorithm is a classification-based scheme. Feature points with high intensity gradients are selected as key features and point matching is formulated as a multi-class classification problem. The proposed scheme shifts much of the computation burden to a training phase to ensure an efficient and robust run-time performance on target recognition as demonstrated by experimental results.
Target acquisition using Natural Feature Image Recognition
2009-03-01
1903802 byte
Conference paper
Electronic Resource
English
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