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Drogue detection and tracking method for monocular-vision-based autonomous aerial refueling

机译：基于单眼自动空中加油的锥套检测与跟踪方法

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摘要

Drogue detection for vision-based probe-drogue autonomous aerial refueling is a challenging task due to disorderly motion of drogue caused by both the tanker wake vortex and atmospheric turbulence. In this paper, a drogue detection method based on drogue inner part's shape features is proposed. Drogue detection is divided into two processes: rough detection and fine location of drogue. The drogue inner part's circular feature is introduced into the drogue rough detection model. Row-column scanning method is proposed to the fine location of drogue. The ellipse least-square fitting is used to obtain the drogue contours' center. Based on drogue image size and drogue image position, we can obtain the tracking region of interest (ROI) area. We proposed a switch rule between drogue detection and drogue tracking. We have experiments on three real autonomous aerial refueling videos. The results show that the proposed method is effective.
机译：由于油轮尾流涡流和大气湍流造成的无序运动，导致基于视觉的探测-无人驾驶空中加油的锥套检测是一项具有挑战性的任务。提出了一种基于锥套内部形状特征的锥套检测方法。锥套检测分为两个过程：粗略检测和锥套的精确定位。将锥套内部的圆形特征引入到锥套粗糙检测模型中。提出了行柱扫描法，以确保锥孔的精确位置。椭圆最小二乘拟合用于获得锥度轮廓的中心。基于锥面图像的大小和锥面图像的位置，我们可以获得关注的跟踪区域（ROI）区域。我们提出了锥套检测和锥套跟踪之间的切换规则。我们在三个真实的自主空中加油视频上进行了实验。结果表明，该方法是有效的。

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