在视觉辅助软管式空中加油系统中, 如何在实时图像序列中将加油锥套从复杂背景环境中快速分离出来, 对锥套进行快速检测与识别, 是一个亟需解决的问题。论文针对加油锥套远距图像目标检测与定位问题, 提出了一种基于形状信息的 Hough-LS两级锥套目标检测与定位方法。文中首先采用快速霍夫梯度法 (FHGM)进行加油锥套预检测, 而后利用中心八向搜索法进行锥套边缘提取, 最后基于最小二乘椭圆拟合实现加油锥套远距图像目标区域精确定位。实验结果表明, 本文可对远距 (7～25 m)时的加油锥套图像快速进行识别处理, 并将锥套目标定位到精确的区域边界。

In the visual-based aerial refueling assistance system, how to separate the refueling drogue from the complex background and do rapid detection of drogue area is an urgent problem. How to detect and locate refueling drogue over a long distance in real-time, a refueling drogue detection and location over a long distance method based on Hough-LS was presented. First, did pre-detection on refueling drogue based on Fast Hough Gradient Method (FHGM), and then extracted taper sleeve edge based on the method of Search in eight directions from the center. Finally, realized refueling taper sleeve detection over a long distance by the least squares fitting ellipse. Experimental results show that, the method has good detection effect for long distance (7 to 25 meters) taper sleeve target and it can locate the precise area boundary.