Multi-scale rock detection on Mars

作     者：Guoqing LI Yunhai GENG Xueming XIAO 

作者机构：School of Astronautics Harbin Institute of Technology School of Opto-Electronic Engineering Changchun University of Science and Technology 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2018年第61卷第10期

页      面：155-162页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：supported by National Natural Science Foundation of China (NSFC) (Grant Nos. 61503102  61701225) 

主　　题：Mars rover rock detection superpixel segmentation region contrast image enhancement 

摘      要：In this paper, we propose a novel autonomous Martian rock detection framework via superpixel segmentation. Different from current state-of-the-art pixel-level rock segmenting methods, the proposed method deals with this issue in region level. Image is splitted into homogeneous regions based on intensity information and spatial layout. The heart of proposed framework is to enhance such region contrast. Then,rocks can be simply segmented from the resulting contrast-map by an adaptive threshold. Our method is efficient in dealing with large image and only few parameters need to set. Preliminary experimental results show that our algorithm outperforms edge-based methods in various grayscale rover images.