Monocular vision-based indoor water surface ship precise positioning system and method

Abstract

The invention provides a monocular vision-based indoor water surface ship precise positioning system, which comprises a monocular vision unit, a recognition positioning unit connected with a monocular vision system and a ship end marker unit arranged on a ship, wherein the monocular vision unit is used for acquiring and outputting an image when the ship sails on an indoor water surface; the recognition positioning unit is used for image collecting, image processing, target ship recognizing, positioning and sailing information calculating; the ship end marker unit comprises two marker lamps arranged on the head and tail of the ship; the shapes of the two marker lamps are spherical and are different in color and the center of a connection line of the two marker lamps represents the shape center of the target ship. According to the invention, the ship under the indoor environment can be accurately positioned, sailing state of the ship is obtained by applying an algorithm and a result is output in real time.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and at the same time relates to the perception of the motion state of ships, in particular to a system and method for precise positioning of indoor water surface ships based on monocular vision. Background technique [0002] Moving target location based on computer vision is a research direction that has attracted much attention in the field of intelligent water traffic safety management. It detects, recognizes, locates and tracks ships from the collected video sequences. The monocular vision real-time positioning technology is widely used because of its simple structure and few calibration steps. The positioning process is as follows: first, a camera is used to collect continuous image sequences of the moving target, and then the preset positioning algorithm is used to detect, track and locate the target in the image sequence, and reconstruct the trajectory of the moving target , and fi...

AI Technical Summary

Problems solved by technology

At present, algorithms based on visual positioning are mostly used in mobile robots. However, since the ship moves on the water surface, it is easily disturbed by factors such as water surface reflection, refraction, and occlusion, and the heading information is very important during the ship movement process. Therefore, the monocular vision-based Indoor ship positioning system has certain particularity and complexity

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