Evaluation of Interest-region Detectors and Descriptors for Automatic Landmark Tracking on Asteroids
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- TAKEISHI Naoya
- Department of Aeronautics and Astronautics, The University of Tokyo
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- TANIMOTO Akira
- Department of Aeronautics and Astronautics, The University of Tokyo
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- YAIRI Takehisa
- Research Center for Advanced Science and Technology, The University of Tokyo
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- TSUDA Yuichi
- Japan Aerospace Exploration Agency
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- TERUI Fuyuto
- Japan Aerospace Exploration Agency
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- OGAWA Naoko
- Japan Aerospace Exploration Agency
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- MIMASU Yuya
- Japan Aerospace Exploration Agency
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The asteroid explorer Hayabusa-2, which is scheduled to be launched in 2014, is going to perform a global mapping mission after it arrives at the target asteroid. Although most of the global mapping sequence will be the same as that of its predecessor Hayabusa, several automation technologies are planned to be tested to reduce the workload of the operators. In particular, the structure from motion (SFM) and simultaneous localization and mapping (SLAM) techniques are expected to significantly contribute to the automation of asteroid shape estimation and visual spacecraft navigation. These frameworks require automatic landmark tracking on the asteroid surface, but no previous work has discussed the method that should be used to track images of the asteroid taken in space, where the absence of scattering light causes dramatic changes in appearance. In this study, we evaluated the performances of SIFT, SURF, BRISK, ORB, Harris-Affine, Hessian-Affine and MSER for images of the asteroid. We found that SIFT is acceptable for use, while SURF, BRISK and ORB can be used with careful parameter tuning. The affine-invariant detectors might contribute to more accurate tracking, but using them is more challenging owing to an extra normalizing process.
収録刊行物
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- TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
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TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES 58 (1), 45-53, 2015
一般社団法人 日本航空宇宙学会
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詳細情報 詳細情報について
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- CRID
- 1390282679056721408
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- NII論文ID
- 130004735473
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- NII書誌ID
- AA0086707X
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- ISSN
- 21894205
- 05493811
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- NDL書誌ID
- 026000902
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
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