Drogue detection for vision-based autonomous aerial refueling via low rank and sparse decomposition with multiple features |
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| Affiliation: | 1. Department of Neurology, Jinan Fourth People''s Hospital, Jinan 250031, Shandong, China;2. Department of Neurology, Shandong Qilu Hospital, Jinan 250012, Shandong, China;3. Department of gynecology and obstetrics, Jinan Central Hospital Affiliated To Shandong University, Jinan 250013, Shandong, China;4. Department of Emergency, Jinan Fourth People''s Hospital, Jinan 250031, Shandong, China;1. Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education), School of Electrical Engineering and Automation, Anhui University, Hefei 230601, PR China;2. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, PR China;1. School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China;2. Shenyuan Honors College of Beihang University, 100191, Beijing, China;3. The Science and Technology on Aircraft Control Laboratory, Beihang University, 100191, Beijing, China;4. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 211106, Nanjing, China;1. School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China;2. Shenyuan Honors College of Beihang University, 100191, Beijing, China;3. The Science and Technology on Aircraft Control Laboratory, Beihang University, 100191, Beijing, China;1. Cranfield University, Cranfield, England, MK43 0AL, United Kingdom;2. Hansung University, Seoul 02876, Republic of Korea;1. School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China;2. SHENYUAN Honors College of Beihang University, 100191 Beijing, China;3. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;4. Unmanned Systems Research Institute, Beihang University, Beijing 100191, China |
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| Abstract: | The technology of vision-based probe-and-drogue autonomous aerial refueling is an amazing task in modern aviation for both manned and unmanned aircraft. A key issue is to determine the relative orientation and position of the drogue and the probe accurately for relative navigation system during the approach phase, which requires locating the drogue precisely. Drogue detection is a challenging task due to disorderly motion of drogue caused by both the tanker wake vortex and atmospheric turbulence. In this paper, the problem of drogue detection is considered as a problem of moving object detection. A drogue detection algorithm based on low rank and sparse decomposition with local multiple features is proposed. The global and local information of drogue is introduced into the detection model in a unified way. The experimental results on real autonomous aerial refueling videos show that the proposed drogue detection algorithm is effective. |
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| Keywords: | Autonomous aerial refueling Drogue detection Low rank Multiple features |
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