Treatment method for surface target of unmanned ship based on laser imaging radar

Abstract

The invention provides a treatment method for a surface target of an unmanned ship based on a laser imaging radar.The method based on the unmanned ship of the laser image radar comprises the following steps: S1, generating a three-dimensional cloud point image on the water surface around the unmanned ship by the laser imaging radar, the three-dimensional cloud point image comprises a target cloud point and a non-target cloud point;conducting dimension reduction treatment to the three-dimensional cloud point image, projecting the three-dimensional cloud point image to a two-dimensional XY-grid plane, counting the position information and height information of each grid, S2, cutting the target cloud point and non-target point cloud, S3,clustering the target point cloud obtained after being cut, extracting the position information of each target, forming the target sample set, extracting multi-dimensional eigenvector collected by the target sample; S4, training the target sample set,obtaining the obtained identifying function, and identifying the target point cloud by the identifying function. The treatment method provided in the invention can detect and identify the target of the water surface around the unmanned ship accurately.

Description

technical field [0001] The invention relates to the technical field of image detection and processing, in particular to an unmanned boat surface target processing method based on laser imaging radar. Background technique [0002] Object detection is a popular direction in the field of computer vision and image processing, and is widely used in many fields such as robot navigation, intelligent video surveillance, industrial inspection, aerospace and navigation. Its purpose is to quickly and accurately detect the target in the video stream, and extract the target to be detected from the sequence of images. [0003] Typical object detection methods such as image-based object detection can better detect objects in good weather. Due to the serious fogging phenomenon in the water surface environment, the image-based method is used to detect the targets around the unmanned boat. The recognition accuracy is greatly affected by the environment, and it is easy to misjudge and miss th...

AI Technical Summary

Problems solved by technology

Due to the serious fogging phenomenon in the water surface environment, the image-based method is used to detect the targets around the unmanned boat. The recognition accuracy is greatly affected by the environment, and it is easy to misjudge and miss judgment. The image processing process is complicated and takes a lot of time to detect. Areas not related to the target

In addition, the image information cannot accurately identify the target distance, which has a great impact on the precise control of subsequent unmanned boats

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