Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot

Figure 7

Illustration of different support areas including (a) straight line, (b) monotonous region, (c) isolated noise, and (d) low-curvature curve. (b) and (c) could be discarded by criterion 1; (d) could be discarded by criterion 2.

(a)

(b)

(c)

(d)