The attractiveness of flying several SAR （synthetic aperture radar） satellites in a semi-active configuration has been proposed by several studies. The closest implementation of such a mission scenario is exemplifie...The attractiveness of flying several SAR （synthetic aperture radar） satellites in a semi-active configuration has been proposed by several studies. The closest implementation of such a mission scenario is exemplified by the current Terra SAR-X and Tandem-X mission, where both spacecraft are identical monostatic platforms capable of operating in various modes. The bistatic operation mode of the Tandem-X mission is a basic form of the semi-active multi-static operation mode where one satellite serves as a transmitter while the other records the scattered signals simultaneously. The use of a typical monostatic SAR spacecraft operating in-tandem with several receiver only spacecraft is a semi-active mode of operation. This paper examines the capabilities of implementing a constellation of S-band spaceborne SAR platform for alongtrack interferometry over the equatorial region for velocity measurement with particular focus on ship detection. The orbit for the mission is an inclined circular low Earth orbit, which ensures high revisit time, quick coverage and high data throughput. The pendulum configuration is adopted to maintain the relative distance between successive SAR platforms. The conditions and constraints necessary to achieve the orbit geometry required to conduct alongtrack interferometry are defined. The alongtrack separation between platforms necessary to measure specified ship velocity is also discussed. Finally an error budget estimate of the measure radial velocity is provided.展开更多
In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken...In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.展开更多
文摘The attractiveness of flying several SAR （synthetic aperture radar） satellites in a semi-active configuration has been proposed by several studies. The closest implementation of such a mission scenario is exemplified by the current Terra SAR-X and Tandem-X mission, where both spacecraft are identical monostatic platforms capable of operating in various modes. The bistatic operation mode of the Tandem-X mission is a basic form of the semi-active multi-static operation mode where one satellite serves as a transmitter while the other records the scattered signals simultaneously. The use of a typical monostatic SAR spacecraft operating in-tandem with several receiver only spacecraft is a semi-active mode of operation. This paper examines the capabilities of implementing a constellation of S-band spaceborne SAR platform for alongtrack interferometry over the equatorial region for velocity measurement with particular focus on ship detection. The orbit for the mission is an inclined circular low Earth orbit, which ensures high revisit time, quick coverage and high data throughput. The pendulum configuration is adopted to maintain the relative distance between successive SAR platforms. The conditions and constraints necessary to achieve the orbit geometry required to conduct alongtrack interferometry are defined. The alongtrack separation between platforms necessary to measure specified ship velocity is also discussed. Finally an error budget estimate of the measure radial velocity is provided.
基金Project(60776816) supported by the National Natural Science Foundation of China and Civil Aviation Administration of ChinaProject(8251064101000005) supported by the Natural Science Foundation of Guangdong Province,China
文摘In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.
