An underwater target tracking method, underwater device and wearable device

Abstract

The invention provides an underwater target tracking method, an underwater device, and a wearable device. The underwater target tracking method comprises the steps of obtaining tracking images havingthe tracking target; tracking images, which includes the adopting of different cameras to respectively collect first images and second images; calculating the relative position information of the underwater device and the tracking target based on the first images and the second images, and conducting tracking of the tracking target based on the relative position information; sending sonar alarm signals to the tracking target when it is determined that the tracking of the tracking target fails, wherein the sonar alarm signal carries the deviation information of a tracking target deviating underwater device; receiving control instruction generated based on the deviation information and sent by the tracking target, wherein the heading direction of the underwater device can be corrected basedon the control instruction so that the tracking target can be continuously tracked based on the corrected heading direction. The invention is advantageous in that with the combination of binocular tracking and sonar communication, the continuous tracking of the tracking target can be realized; hidden trouble caused by failed tracking to the underwater target can be prevented; practicality is quitegood.

Description

technical field [0001] The present invention relates to the technical field of target tracking, in particular to an underwater target tracking method, underwater equipment and wearable equipment. Background technique [0002] In marine science research, underwater equipment is often used to track and photograph underwater targets (eg, divers). Among them, underwater machine vision, as a general technology, widely assists underwater applications, and plays an important role in robots, drones, etc. [0003] In underwater machine vision, it is often necessary to locate the position of the target in each frame of the image, and target tracking is precisely one of the key technologies. Due to the characteristics of light propagating in water, the quality of underwater video is severely degraded, and the information of the target is also seriously distorted, which leads to a high possibility of tracking failure in related underwater target tracking methods. [0004] However, in ...

AI Technical Summary

Problems solved by technology

Due to the characteristics of light propagation in water, the quality of underwater video is seriously degraded, and the information of the target is also seriously distorted, which leads to the high possibility of tracking failure in related underwater target tracking methods

[0004] However, in related technologies, there is no perfect solution to achieve re-tracking after the failure of underwater target tracking, which cannot ensure the safety of underwater targets, resulting in poor practicability

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