[1]夏红杰,陈姚节,徐 新,等.动态船舶行驶场景下的实时单目测距算法研究[J].计算机技术与发展,2022,32(02):167-171.[doi:10. 3969 / j. issn. 1673-629X. 2022. 02. 027]
　XIA Hong-jie,CHEN Yao-jie,XU Xin,et al.Research on Real-time Monocular Ranging in Dynamic Ship Navigation Scene[J].,2022,32(02):167-171.[doi:10. 3969 / j. issn. 1673-629X. 2022. 02. 027]
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动态船舶行驶场景下的实时单目测距算法研究()

《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
32
期数:
2022年02期
页码:
167-171
栏目:
应用前沿与综合
出版日期:
2022-02-10

文章信息/Info

Title:
Research on Real-time Monocular Ranging in Dynamic Ship Navigation Scene
文章编号:
1673-629X(2022)02-0167-05
作者:
夏红杰1; 2 ; 陈姚节1; 2 ; 徐 新1; 2 ; 王 薇1; 2
1. 武汉科技大学 计算机科学与技术学院,湖北 武汉 430065;
2. 武汉科技大学 智能信息处理与实时工业系统湖北省重点实验室,湖北 武汉 430065
Author(s):
XIA Hong-jie1; 2 ; CHEN Yao-jie1; 2 ; XU Xin1; 2 ; WANG Wei1; 2
1. School of Computer Science and Technology,Wuhan University of Science and Technology,Wuhan 430065,China;
2. Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System,Wuhan University of Science and Technology,Wuhan 430065,China
关键词:
船舶工程; 单目视觉; 单目测距; 陀螺仪标定; 深度估计
Keywords:
ship engineering; monocular vision; monocular ranging; gyroscope calibration; depth estimation
分类号:
TP391. 41
DOI:
10. 3969 / j. issn. 1673-629X. 2022. 02. 027
摘要:
为了利用单目视觉实时监测船舶行驶过程中与周围船舶之间的距离,首先分析单目视觉测距现状及其成功应用实例,基于小孔成像原理建立单目相机模型,通过几何推导,得到世界坐标系、相机坐 标系、图像坐标系及像素坐标系之间三层坐标转换关系。 随后通过实验验证 pitch 俯仰角与 yaw 水平角对单目视觉测距的影响程度,从而分析出动态船舶行驶场景下包括相机姿态、船舶在水面摇晃等实时单目测距误差。 进而在引入包含俯仰角、水平角的相似三角形测距算法的基础上,采用高精度陀螺仪相机姿态补偿策略提出改进的基于单目视觉的相似三角形目标船舶测距算法。 实验结果表明,该算法能在动态船舶行驶过程中较为准确地测量周围水域目标船舶之间的距离,可以满足船舶实时安全监测系统的要求。
Abstract:
In order to use monocular vision to monitor the distance between ships and surrounding ships in real time,the present situationof monocular vision ranging and its successful application examples are analyzed. The monocular camera model is established based onthe principle of keyhole imaging,and the three-layer coordinate transformation relationship among the world coordinate system,cameracoordinate system,image coordinate system and pixel coordinate system is obtained through geometric derivation. Then,the influence ofpitch angle and yaw horizontal angle on the distance measurement of monocular vision is verified through experiments,so as to analyzethe real-time monocular distance measurement errors under dynamic ship driving scenarios,including camera attitude and ship shaking onthe water. Based on the introduction of an similar triangle distance measurement algorithm with pitch and yaw,an improved ship rangingalgorithm based on monocular vision for similar triangle targets is proposed based on high precision gyroscope camera attitudecompensation strategy. Experimental results show that the proposed algorithm can accurately measure the distance between target ships inthe surrounding waters in the process of dynamic ship moving,which can meet the requirements of real-time ship safety monitoring system.

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更新日期/Last Update: 2022-02-10