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Water surface target avoiding method based on image target identification

A technology for surface target and target recognition, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., to achieve the effects of rapid response, low hardware complexity and cost, and large monitoring range

Active Publication Date: 2019-12-17
INST OF ACOUSTICS CHINESE ACAD OF SCI +1
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Problems solved by technology

At present, there is no mature method for dynamic obstacle avoidance

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  • Water surface target avoiding method based on image target identification
  • Water surface target avoiding method based on image target identification
  • Water surface target avoiding method based on image target identification

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Embodiment Construction

[0055] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the embodiments of the present invention are not limited thereto.

[0056] The embodiment of the present invention is applied to an unmanned ship that can sail autonomously. One camera is installed on the same plane at the highest point of the ship in four directions, front, back, left, and right. After the combined field of view of the four cameras can cover 360 degrees around the ship Full viewing angle. The above-mentioned embodiment implements the water surface target avoidance method based on image target recognition through the omni-view camera system combined by the above-mentioned 4 cameras, which specifically includes the following steps, and its process is as follows: figure 1 Shown:

[0057] Step 1: Establish a target detection model for recognizing water surface target images, and calibrate the 360-degree full-v...

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Abstract

The invention discloses a water surface target avoiding method based on image target identification. The water surface target avoiding method comprises the steps: 1) acquiring water surface images around a ship by means of a 360-degree full-view camera shooting system, and carrying out distortion and inclination correction on the images; 2) identifying a skyline in the corrected images and whetheran obstacle exists or not by utilizing a target detection model, and if the obstacle exists in the images, entering a step 3), otherwise, jumping to a step 5); 3) calculating a distance and size of the obstacle by utilizing positions of the skyline and the obstacle in the images, and estimating a movement track of the obstacle by using multiple frames of images; 4) judging whether the obstacle and the ship have the possibility of collision or not, and if so, jumping to the step 6), otherwise, jumping to the step 5); 5) judging whether a ship route has been planned after carrying out an obstacle avoidance operation, and if so, not adjusting the ship route, otherwise, re-planning the ship route to a destination; and 6) adjusting the ship route of the ship.

Description

technical field [0001] The invention relates to the field of signal processing, in particular to a water surface target avoidance method based on image target recognition. Background technique [0002] When a ship sails on the water, it may collide with other ships, various fixed objects or floating objects due to accidents or human factors, resulting in personal injury or property damage. Therefore, the collision avoidance between ships and the protection of surrounding obstacles Obstacle avoidance is an important guarantee for ship navigation safety. To avoid collisions when ships are sailing, in addition to improving the technical level and safety awareness of manned ship drivers, improving the ability of ships to avoid other ships or obstacles through technical means such as ship collision avoidance methods or collision avoidance control strategies is also to reduce collisions. Another effective way for accidents to occur, the above-mentioned technology is also one of t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 鄢社锋王凡徐立军汪嘉宁
Owner INST OF ACOUSTICS CHINESE ACAD OF SCI
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