A Line Segment Detector for Space Target Images Robust to Complex Illumination

The relative pose estimation of the space target is indispensable for on-orbit autonomous service missions. Line segment detection is an important step in pose estimation. The traditional line segment detectors show impressive performance under sufficient illumination, while it is easy to fail under complex illumination conditions where the illumination is too bright or too dark. We propose a robust line segment detector for space applications considering the complex illumination in space environments. An improved two-dimensional histogram construction strategy is used to optimize the Otsu method to improve the accuracy of anchor map extraction. To further improve line segment detection’s effect, we introduce an aggregation method that uses the angle difference between segments, the distance between endpoints, and the overlap degree of segments to filter the aggregation candidate segments and connect disjoint line segments that probably came from the same segment. We demonstrate the performance of the proposed line segment detector using a variety of images collected on a semiphysical simulation platform. The results show that our method has better performance than traditional line segment detectors including LSD, Linelet, etc., in terms of line detection precision.