Identification and space positioning device and method for fished targets based on omni directional vision

A stereo vision and spatial positioning technology, applied in character and pattern recognition, image data processing, instruments, etc., can solve problems such as matching errors, large matching differences of corresponding points, and affecting matching accuracy.

Active Publication Date: 2013-07-31
ZHEJIANG UNIV OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

[0010] However, the current stereo vision system still has many problems in the practical application of seabed biological fishing. The main problem is that the stereoscopic imaging range is limited. Since the fishing robot walks in the seabed fishing crop environment, the growth area of ​​the fishing object is open. Therefore, it is necessary to rotate the stereo vision system to obtain the video information of the surrounding fishing objects; secondly, there are still gaps in the practical application of stereo imaging camera calibration, feature extraction and stereo image matching. some intractable problems
In addition, because the fixed focal length can only clearly capture images within a certain depth of field, it limits its application in some

Method used

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  • Identification and space positioning device and method for fished targets based on omni directional vision
  • Identification and space positioning device and method for fished targets based on omni directional vision
  • Identification and space positioning device and method for fished targets based on omni directional vision

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Embodiment 1

[0068] Reference Figure 1 ~ Figure 15 , A device for identifying and spatial positioning of fishing objects based on panoramic stereo vision, including a binocular stereo panoramic vision sensor, a microprocessor for analyzing and processing the identification and spatial positioning of fishing objects. The vision sensor is connected to the microprocessor through a USB interface;

[0069] The fishing action is implemented by the bionic robotic arm. The bionic robotic arm has two functions, one is to complete the walking of the fishing robot, and the other is to complete the fishing action; there are four bionic robots in the present invention, respectively It is fixed on the front and rear sides of the collection compartment of the fishing robot body, very similar to the limbs of a sea turtle, made of artificial muscles, as attached image 3 As shown; the shape of the bionic robotic hand is a tube with three degrees of freedom muscles, and the tube is divided into three 120° fan-...

Embodiment 2

[0122] A processing flow for the identification and spatial positioning of fishing objects based on panoramic stereo vision is that before identifying the fishing objects, a feature library of various fishing objects needs to be established first, and the panoramic stereo ODVS needs to be completed. Preparatory work for internal and external parameter setting, calibration and polar line correction. The parameters of setting, calibration and polar line correction are all stored in the storage unit so that they can be recalled when the fishing robot is used; then, the fishing robot enters the fishing operation process on the seabed, To achieve fishing while walking, the process of identifying and spatial positioning of specific fishing objects is as follows;

[0123] Step 1): Read two panoramic video images of two ODVS with the same imaging parameters through the video image reading unit;

[0124] Step 2): Process the two panoramic video images according to the settings, calibration ...

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Abstract

An identification and space positioning device for fished targets based on an omni directional vision comprises an ODVS (omni directional vision sensor), and a microprocessor for analyzing and processing the identification and space positioning of fished targets. The ODVS comprises two fixed single viewpoint dead-angle-free omni directional vision sensors with the same parameter. The two omni directional vision sensors are fixedly connected in a perpendicularly back-to-back manner according to an omni polar plane requirement. The invention further discloses an identification and space positioning method for fished targets based on the omni directional vision. The invention adopts the ODVS to solve the problem about image acquisition for identification and space positioning of deep sea fished targets, can provide the omni directional vision for fishing robot navigation at the same time, and has the advantages of low calculated amount for stereo matching of feature points, high spatial orientation and the like.

Description

Technical field [0001] The invention belongs to the application of panoramic stereo vision technology, fishing robot technology, digital image processing technology and pattern recognition technology in the automatic fishing of seabed organisms, and is especially suitable for automatic fishing operations of fishing robots. Background technique [0002] Deep-sea creature fishing is the fishing of deep-sea creatures, and the creatures are captured from the deep sea for scientific research or other commercial purposes. At present, a trawl catching technique is usually used, which is a drag fishing method that uses ships to navigate. Bottom trawl is a technology used to capture small creatures such as deep sea creatures. This bottom trawl technology has caused catastrophic damage to the ecosystem. Corals, sponges, fish and other animals will all be killed. At the same time, underwater ecosystems such as seamounts, the habitat of many marine organisms, have also been severely damage...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06T7/00
Inventor 汤一平俞立孙明轩倪洪杰余世明
Owner ZHEJIANG UNIV OF TECH
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