Visual Detection and Servoing for Automated Docking of Unmanned Spacecraft무인우주비행체의 자율도킹을 위한 영상검출 및 서보잉

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dc.contributor.authorCho, Sungwookko
dc.contributor.authorHuh, Sungsikko
dc.contributor.authorShim, David Hyunchulko
dc.date.accessioned2015-07-23T01:35:19Z-
dc.date.available2015-07-23T01:35:19Z-
dc.date.created2015-06-17-
dc.date.created2015-06-17-
dc.date.created2015-06-17-
dc.date.issued2014-12-
dc.identifier.citationTRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN, v.12, no.APISAT2013, pp.a107 - a116-
dc.identifier.issn1884-0485-
dc.identifier.urihttp://hdl.handle.net/10203/200138-
dc.description.abstractIn this paper, we propose a visual servoing algorithm for the automated docking of unmanned spacecraft. The proposed algorithm detects a set of custom visual markers using pyramid-based template matching for scale-invariance, and tracks the set of markers using a particle filter and the continuously adaptive mean-shift (CAMShift) algorithm for nonlinear movement. For fast execution, the proposed algorithm runs on general-purpose graphics processing units (GPGPUs) using compute unified device architecture (CUDA) and multi-platform shared memory parallel programming. The performance of the proposed algorithm is validated in flight tests using an indoor unmanned aerial vehicle (UAV) and a simulated docking adapters which showed satisfactory results.-
dc.languageEnglish-
dc.publisherJAPAN SOC AERONAUT SPACE SCI-
dc.titleVisual Detection and Servoing for Automated Docking of Unmanned Spacecraft-
dc.title.alternative무인우주비행체의 자율도킹을 위한 영상검출 및 서보잉-
dc.typeArticle-
dc.type.rimsART-
dc.citation.volume12-
dc.citation.issueAPISAT2013-
dc.citation.beginningpagea107-
dc.citation.endingpagea116-
dc.citation.publicationnameTRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN-
dc.identifier.doi10.2322/tastj.12.a107-
dc.contributor.localauthorShim, David Hyunchul-
dc.description.isOpenAccessN-
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