Robust Centroid Estimation Method with the Rough and Refined Estimation for Interplanetary Optical Navigation

Figure 9

Complete image processing routines. (a) The full moon is close to the Earth and very dim. (b) Binarizing the image by an adaptive threshold ; (c) Open (○) and close (●) operations for removing interference areas. (d) Detecting all edges and identifying the moon’s contour. (e) Searching for the valuable moon’s contour (blue arc) based on gradient and distance information. (f) Rough estimation using RANSAC for removing outliers (red points). (g) Refined estimation with the hybrid genetic algorithm.

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