Calibration parameter real-time monitoring method of unmanned surface vessel vision system

Abstract

The invention discloses a calibration parameter real-time monitoring method of an unmanned surface vessel vision system. The method comprises the following steps of: fixedly installing a marker with an obvious feature point on a vessel such that the vision system shoots that an image of the marker is positioned in a parameter monitoring area of a frame of image; by using a calibration image of the vision system, extracting a coordinate of a marker image feature point in the parameter monitoring area, and taking a coordinate average value of a corresponding feature point in all calibration images as a calibration image coordinate of the feature point; in an actual working condition of the vision system, every time a frame of image is collected, carrying out real-time extraction on the feature point of the marker image in the parameter monitoring area; comparing a feature point coordinate extracted from each frame of image in real time with the calibration coordinate of the feature point, and determining whether carrying out calibration again is needed or not. According to the invention, the parameter of the vision system can be monitored without carrying out on-line calibration, thus the vision system carries out real-time monitoring on a camera parameter, and sends a request of needing calibration again or an alarm signal when the calibration parameter changes greatly.

Description

technical field [0001] The invention relates to a vision system technology of an unmanned surface vessel, in particular to a real-time monitoring method for calibration parameters of the vision system of an unmanned surface vessel, which is suitable for real-time monitoring of internal and external parameters of a camera used in a visual navigation or monitoring system installed on an unmanned surface vessel , can also be used in unmanned vehicles and UAV vision systems. Background technique [0002] Visual navigation has been successfully applied in ground unmanned vehicles and aerial unmanned aerial vehicles. In recent years, people have tried to apply visual navigation technology to unmanned surface boats. , deployment or bumps caused by waves, the calibration parameters will change; in addition, the visual system is affected by the reflection of the water surface, the actual working environment is different from the land calibration environment, and the calibration param...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a real-time monitoring method for the calibration parameters of the vision system of the unmanned surface craft for the monitoring method of the calibration parameters of the existing unmanned surface craft vision system that needs online calibration, which is easy to cause waste of vision system resources. Online calibration is required to monitor the parameters of the vision system. While the vision system is working under actual sea conditions, the camera parameters are monitored in real time. When the calibration parameters change significantly, a request for recalibration or an alarm signal is issued.

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