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Method and device for intelligent obstacle avoidance of unmanned ship based on monocular vision

A technology of monocular vision and intelligent obstacle avoidance, applied in the field of unmanned ships

Active Publication Date: 2019-09-17
江苏云洲智能科技有限公司 +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] To this end, the present invention provides a method and device for intelligent obstacle avoidance of unmanned ships based on monocular vision, to solve or at least alleviate the problems existing above

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  • Method and device for intelligent obstacle avoidance of unmanned ship based on monocular vision
  • Method and device for intelligent obstacle avoidance of unmanned ship based on monocular vision
  • Method and device for intelligent obstacle avoidance of unmanned ship based on monocular vision

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Embodiment Construction

[0034] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] figure 1 A schematic diagram of an unmanned ship intelligent obstacle avoidance system 100 according to an embodiment of the present invention is shown. figure 1 The illustrated system 100 includes an image acquisition device 110 and a computing device 200 . The image collection device 110 may be, for example, any type of camera, such as a monocular camera, which is suitable for collecting real-scene original images of the ...

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Abstract

The invention discloses a monocular vision-based intelligent obstacle avoidance method of an unmanned ship. The method comprises: sequentially carrying out grayscale processing and sea-sky / shore line detection on an original image of a monocular camera, then separating out a sea surface area image, filtering the image, and then obtaining a filtered image; sequentially carrying out edge detection and morphological processing on the filtered image, and then obtaining a first candidate obstacle area set; respectively carrying out significance detection and image segmentation on the filtered image to obtain a significant image and a segmented image, and obtaining a second candidate obstacle area set according to the significant image and the segmented image; merging the two candidate obstacle area sets to obtain an obstacle area set; determining the minimum enclosing rectangle of each obstacle area, and screening out the minimum enclosing rectangles which meet predetermined conditions to form a enclosing rectangle set; and using bottom edges of the enclosing rectangles as waterlines of obstacles, and calculating coordinate positions of the obstacles according to positions of the waterlines and a camera attitude. The invention also discloses a corresponding intelligent obstacle avoidance device of the unmanned ship.

Description

technical field [0001] The invention relates to the field of unmanned ships, in particular to a monocular vision-based intelligent obstacle avoidance method and device for an unmanned ship. Background technique [0002] An unmanned ship is a surface autonomous robot with small size, shallow draft, and flexible maneuverability. As a function extension of large survey ships to shallow water areas that are difficult to reach, unmanned ships are currently widely used in marine surveys in extremely shallow water areas. . [0003] Usually, a ship will often encounter various obstacles during navigation. For a ship with a driver, the driver can turn the ship to avoid it after seeing the obstacle. But for unmanned ships, there are no people on board to watch the surrounding conditions. At this time, obstacles on the sea can easily bring great danger to unmanned ships. Therefore, there is an urgent need for a method that can intelligently identify obstacles and their orientations, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/136G06T7/13G06T7/155G06T7/73
Inventor 郑少华赵智聪
Owner 江苏云洲智能科技有限公司
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