Method and device for rov sea cucumber distribution statistics based on positioning compensation and visual perception
A technology of visual perception and distribution statistics, applied in measurement devices, mapping and navigation, navigation calculation tools, etc., can solve problems such as inability to distinguish overlapping relationships, inability to apply to large-scale underwater operation tasks, etc., to effectively eliminate and reduce false detections , the effect of improving the accuracy of distribution statistics
Active Publication Date: 2021-03-30
OCEAN UNIV OF CHINA
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Since the above-mentioned target technology does not introduce positioning information, it cannot distinguish the overlapping relationship between different fields of view, and cannot be applied to large-scale underwater operations.
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[0039] combine figure 1 As shown, the specific embodiments of the ROV sea cucumber distribution statistics method and device based on positioning compensation and visual perception provided by the present invention are as follows.
[0040] The statistics of the habitat distribution of sea cucumbers are of great significance to optimize the density of ginseng seedlings and improve the efficiency of sea cucumber harvesting. In the statistical task of sea cucumber habitat distribution based on underwater robots, the statistical distribution of the current location points needs to be stored and marked with the help of positioning technology. , and use the uniqueness of the positioning information to remove the target repetition count. The positioning method for underwater robots mainly relies on inertial navigation technology, but the inertial navigation technology has the defect of error accumulation, which often needs to be compensated by means of deviation terrain registration....
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The invention provides an ROV sea cucumber distribution statistical method and device based on positioning compensation and visual perception, and relates to the technical field of sea cucumber breeding and fishing. The ROV sea cucumber distribution statistical method comprises a topographic map construction and updating module, an ROV rapid positioning module and a sea cucumber identification counting and multivariate positioning compensation module, and is characterized in that the topographic map construction module realizes topographic construction of a to-be-counted seabed area and updates historical topographic data according to sounding and positioning data; the ROV rapid positioning and compensation module realizes rapid ROV coarse positioning by utilizing rigid positioning anchorpoints in the historical topographic data; the sea cucumber identification counting and multivariate positioning compensation module realizes accurate positioning compensation for the ROV position through simultaneous multivariate constraints taking inertial navigation, terrain matching and rigid and flexible positioning anchor point information as carriers based on sea cucumber target identification of visual perception, and thus realizes accurate sea cucumber distribution marking of positioning points in a nautical chart. According to the method and the device, the elimination of repeated counting between visual fields is realized, and the efficiency and the precision of ROV underwater operation are improved.
Description
technical field [0001] The invention relates to the technical field of sea cucumber culture and fishing, in particular to a method and a device for the statistics of the habitat distribution of ROV sea cucumbers based on multiple positioning compensation and visual perception. Background technique [0002] At present, underwater robot positioning technology is widely used in underwater tasks due to its flexibility and convenience. Among them, Remotely Operated Underwater Vehicle (ROV) and Autonomous Underwater Vehicle (AUV) are the two most important unmanned underwater robots. Video target recognition technology With the increasing popularity of cost-effective image acquisition equipment, more and more underwater robots are equipped with high-performance image sensors, which can obtain relatively clear underwater video image data. [0003] In the field of artificial proliferation and fishing of sea cucumbers, the statistics of the habitat distribution of sea cucumbers can ...
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IPC IPC(8): G01C21/16G01C21/20G06F17/18
CPCG01C21/165G01C21/203G06F17/18
Inventor 李坤乾宋大雷胡少宝张永昌李崇
Owner OCEAN UNIV OF CHINA