摘要
针对智能水下机器人与水下基站近距离对接时,传统的光视觉引导方法精度和鲁棒性难以满足要求的问题,本文提出了一种双目视觉引导方法。该方法主要分为光源提取、光源匹配和立体测距3部分。利用图像自适应二值化算法和伪光源剔除算法,得到左右图像的光源标识中心的像素坐标;在光源匹配部分,对光源进行特征提取和匹配,完成左右图像中的光源准确配对;最后对光源阵列进行立体测距,得到相机坐标系下基站的三维位置。实验结果表明:该方法对伪光源具有很好的鲁棒性,并且所得出的基站相对位置和角度均达到了很高的精度。
This paper proposes a stereo visual guidance method to address the inability of the conventional light visual guidance method to meet accuracy and robustness requirements when an autonomous underwater vehicle(AUV)is docked to an underwater base station in short range.The proposed method is mainly divided into three parts:light source extraction,light source matching,and stereoscopic measurement.Firstly,an adaptive image binarization algorithm and a pseudo-light source elimination algorithm are used to obtain the pixel coordinates of the centers of the light source logos from the left and right images.In the light source matching part,each light source feature is extracted and matched to complete the accurate pairing of the light sources in the left and right images.Finally,binocular stereo ranging is conducted on the light source array to obtain the three-dimensional position of the base station in the camera coordinate system.Experimental results show that the proposed method has good robustness to invalid light sources and that the relative position and angle of the base station are obtained with high accuracy.
作者
徐硕
姜言清
李晔
刘善昌
丁硕硕
马东
齐昊东
张文君
XU Shuo;JIANG Yanqing;LI Ye;LIU Shanchang;DING Shuoshuo;MA Dong;QI Haodong;ZHANG Wenjun(Key Laboratory of Underwater Intelligent Robot Technology,Harbin Engineering University,Harbin 150001,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;Sanya Nanhai Innovation&Development Center,Harbin Engineering University,Sanya 572000,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2022年第8期1084-1090,共7页
Journal of Harbin Engineering University
基金
国家重点研发计划项目(2021YFC2801300)
国家自然科学基金项目(U1806228,51879057)
装发预先研究项目(50911020604)
海南省自然科学基金三亚崖州湾科技城联合基金项目(520LH035)
黑龙江省重点研发计划(GZ20210032)
河南省水下智能装备重点实验室开放基金(KL02B1903).
关键词
水下机器人
回收
水下对接
双目视觉
定位
引导
匹配
水下基站
autonomous underwater vehicle
recovery
underwater docking
stereo vision
positioning
guidance
match
underwater base station
