An omni-directional ship collision avoidance warning and navigation system based on stereo vision
A technology of stereo vision and navigation system, which is used in surveying and navigation, CCTV systems, components of TV systems, etc. to reflected signals, etc.
Active Publication Date: 2021-07-16
HARBIN ENG UNIV
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The fusion method of the camera and the laser ranging sensor is limited by the field of view of the camera and the working principle of the laser ranging sensor, and only the distance between the image in the bow direction of the ship and the object in the field of view can be obtained.
Moreover, the ship will experience violent bumps when driving at high speed, and the camera cannot collect continuous and stable images under the existing technical methods due to the large centripetal force and the tilting, shaking, and rotation of the hull when the small ship is turning sharply. , the sensor cannot detect the reflected signal of a distant object, and the whole system cannot continue to work normally
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[0061] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:
[0062] Such as figure 1 As shown, in this device, the cameras 11 on the device are numbered clockwise. First, the images collected by odd-numbered cameras 11 are taken, corrected and projected onto a cylinder whose radius is the focal length of the lens. Because the cameras 11 have been calibrated, the positional relationship between them is known, and the field of view of the lens is known, then the image overlapping areas of all odd-numbered cameras 11 and adjacent odd-numbered cameras 11 are known, as shown in the figure. The L and R areas are linearly superimposed on the overlapping areas to obtain a panoramic image projected onto a cylinder whose radius is the focal length.
[0063] In order to make the distance measuring process based on binocular stereo vision of the present invention easy to understand, it will be shown in the form of dra...
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The invention discloses an omnidirectional anti-collision early warning and navigation system based on stereo vision, which belongs to the technical field of image processing and automation. Including panoramic camera device; image stabilization system; surface target detection, stereo vision distance measurement, collision avoidance warning and navigation data processing system; terminal processor; Mechanical image stabilization. Surface target detection, stereo vision ranging, anti-collision warning and navigation data processing system are used for target detection, ranging, anti-collision warning and avoidance calculation. The terminal processor is used to handle data calculation and external communication in the system. The present invention applies multiple groups of common cameras and image-stabilizing pan-tilts to provide omnidirectional anti-collision warning and navigation for ships in the marine environment, and is applicable to harsh marine environments and different tasks of various types of ships.
Description
technical field [0001] The invention belongs to the technical field of image processing and automation, and in particular relates to an omni-directional anti-collision early warning and navigation system for ships based on stereo vision. Background technique [0002] With the increasing development of navigation-related technologies, maritime rights and interests have been valued by various countries, and the field of surface ship automation technology has developed rapidly accordingly, and related problems have also emerged one after another. In August 2017, two U.S. warships collided with civilian ships, causing casualties and huge property losses. To solve this problem, the U.S. military spent huge sums of money to install automatic ship identification systems for warships. This system is not only expensive, but also cannot be widely used in various ships, which makes the problem of ship collision avoidance an urgent problem to be solved. The future ship plan published b...
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IPC IPC(8): G01C21/00G01C21/20H04N7/18H04N5/247H04N23/90
CPCH04N7/181G01C21/005G01C21/203H04N23/90
Inventor 王平韩泽慧薛开李秋红黄文浩
Owner HARBIN ENG UNIV