Unmanned aerial vehicle-based water surface floater detection method and unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle-based water surface floater detection method and an unmanned aerial vehicle, and solves the technical problem of low treatment efficiency of marine solid wastes in the prior art. The method comprises the steps of receiving a current water surface image obtained by an unmanned aerial vehicle camera apparatus; updating a current background image by using a background image established based on a background modeling algorithm; determining a difference image of the current water surface image relative to the current background image; determining a pixel number of a water surface floater based on the difference image; and determining an area of the water surface floater based on the pixel number of the water surface floater. The unmanned aerial vehicle camera apparatus is used for obtaining the current water surface image of a water surface; the current water surface image and the background image are subjected to difference operation to obtain the difference image; the obtained difference image consists of water surface floater pixels representing the water surface floater; the pixel number of the water surface floater and the actual area of the water surface floater corresponding to each water surface floater pixel are calculated; and search processing is performed after the area and position of the floater are determined, so that the search difficulty can be lowered and the search efficiency can be improved.

Description

technical field [0001] The invention belongs to the technical field of target detection, and in particular relates to a method for detecting floating objects on the water surface based on an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] With the development of social productivity and science and technology, the ocean has received different degrees of pollution and damage from all aspects. The increasingly serious pollution has brought extremely adverse consequences to the survival and development of human beings. [0003] According to the nature and toxicity of pollutants, as well as the way of harm to the marine environment, marine pollution mainly includes petroleum and its products, heavy metals and acids and bases, pesticides, organic substances and nutrient salts, radionuclides, and solid waste. [0004] Marine pollution caused by solid waste is mainly composed of various human items: plastic, rubber, wood, etc. The hazards caused...

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Problems solved by technology

[0006] This application provides a method for detecting floating objects on the water surface based on an unmanned aerial vehicle and an unmanned aerial vehicle, which solves the technical problem of low processing efficiency of marine solid waste in the prior art

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