Water surface target detection tracking integration method facing unmanned ship application

A surface target, detection and tracking technology, applied in image analysis, image enhancement, instruments, etc., can solve problems such as untrackable, lost targets, and unmanned boat autonomous obstacle avoidance, etc., to achieve stable detection results and improve accuracy Effect

Active Publication Date: 2017-07-18
东莞小豚智能技术有限公司
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Problems solved by technology

The target tracking algorithm is fast and the detection results are relatively stable, but the tracking algorithm also has many limitations
First, the target tracking algorithm needs to be provided with the initial position of the target. Due to the large number of surface targets, if a new target appears, it will not be able to track
Second, it is difficult for the target tracking algorithm to overcome large-scale changes. If the target has a large degree of attitude chang

Method used

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  • Water surface target detection tracking integration method facing unmanned ship application
  • Water surface target detection tracking integration method facing unmanned ship application
  • Water surface target detection tracking integration method facing unmanned ship application

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Embodiment Construction

[0054] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention

[0055] as attached Figure 1-4 As shown, the present invention discloses an integrated method for surface target detection and tracking for unmanned boat applications, comprising the following steps:

[0056] S1, training the target detection neural network model. In order to solve the training problem, the present invention has produced a data set of common targets on the water surface, a total of 2000 pictures, including 5 types of common targets on the water surface such as riverboats, sailboats, warships, cruise ships, and buoys. At the same time, in order to enhance the stability of the target detection neural network, a total ...

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Abstract

A water surface target detection tracking integration method facing a unmanned ship application is disclosed. The method comprises the following steps of S1, training a target detection nerve network model; S2 carrying out target detection and putting a detection result into a set Bd; S3, detecting a target tracking result, inputting the target tracking result of a previous frame of picture into the target detection nerve network model so as to carry out detection, retaining a tracking frame which does not lose a target, and putting the tracking frame into a set Bt; S4, adjusting sizes and positions of a target frame and the tracking frame in a fine mode; S5, determining whether there is a new target; S6, carrying out target tracking; and S7, continuously tracking m frames, and then repeating the step2 to step7 till the last frame of picture is tracked. In the invention, advantages of target detection and target tracking are combined, accuracy of the method is high and a speed is fast, and simultaneously stable target position information can be acquired; and effectively technology guarantee is provided for autonomous obstacle avoidance of an unmanned ship.

Description

technical field [0001] The invention belongs to the cross-technical field of digital image processing and control systems, and more specifically relates to an integrated method for surface target detection and tracking for unmanned boat applications. Background technique [0002] As an unmanned surface ship, unmanned ships play a very important role in many practical application scenarios. For example, water quality monitoring in the civilian field, customs anti-smuggling in the police field, offshore patrol in the military field, and so on. Therefore, my country's demand for unmanned boats is increasing day by day. The prerequisite for autonomous navigation of unmanned boats is to realize automatic obstacle avoidance technology, and the rapid detection of surface targets is the basis of automatic obstacle avoidance technology. In addition to fast and accurate detection of surface targets, the detection results must be smooth so as to provide stable environment perception ...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/90G06T7/20
CPCG06T2207/10016G06T2207/20081G06T2207/20084G06T2207/30232
Inventor 肖阳杨健曹治国宫凯程
Owner 东莞小豚智能技术有限公司
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