摘要
为了探索海洋资源,必须对水下目标进行精确定位。提出了一种利用单目视觉进行水下圆目标三维位姿检测的方法。该方法仅需要单摄像机拍摄的一幅水下图像,便能从中快速地识别出圆特征,并对水下光折射造成的图像畸变进行补偿,从而估计圆目标的三维方向和位置。实验表明,利用该方法对水下圆柱体目标的方向检测误差为1.33%,位置检测误差为4.37%;通过移动和重定位该圆柱物体,证实了该方法的稳定性。
Localization of underwater objects is essential for exploring the vast ocean resources. We present a monocular-vision-based method for estimating three-dimensional （3D） position-pose of underwater circular features. Using a single camera image, underwater circular features are extracted. Mter that, the image distortion caused by the underwater environment is compensated, and both the orientation and position of the underwater circular features are estimated. Laboratory experiments demonstrate that the method is capable of estimating the 3D position-pose of a cylindrical object in clean water with the accuracy of orientation and position estimation of 1.33% and 4.37%, respectively. The stability of the method is also analyzed by moving and relocating the cylinder.
出处
《激光与光电子学进展》
CSCD
北大核心
2013年第10期107-114,共8页
Laser & Optoelectronics Progress
基金
湖北省教育厅科学技术研究计划(Q20133007)
湖北省高等学校青上教师深入企业行动计划(XD2012423)
关键词
成像系统
三维位姿检测
单目视觉
圆特征
激光水下成像
imaging systems
three-dimensional position-pose estimation
monocular vision
circular feature
laser underwater imaging
