Inter-ship relative pose detection method and system

Abstract

The invention relates to an inter-ship relative pose detection method and system. The method comprises the following steps: carrying out monocular vision detection on an Aruco mark by utilizing a leftcamera of a binocular camera to obtain four ordered angular points of the Aruco mark under a pixel coordinate system of the left camera; acquiring a three-dimensional imaging model of the binocular camera; fusing the monocular vision detection result of the Arauco marker with a three-dimensional imaging model to obtain a coordinate transformation matrix between a camera coordinate system and an Arauco coordinate system; and relative six-degree-of-freedom pose information between the measured ship and the world coordinate system is obtained by combining the coordinate conversion matrix betweenthe camera coordinate system and the Aruco coordinate system, the coordinate conversion matrix between the measured ship coordinate system and the Aruco coordinate system and the coordinate conversion matrix of the camera coordinate system relative to the world coordinate system. According to the invention, the accuracy and precision of relative pose detection between ships can be improved.

Description

technical field [0001] The invention relates to the field of ship detection, in particular to a method and system for detecting relative poses and postures between ships. Background technique [0002] Under the action of wind and surge, the ship will produce six degrees of freedom motion of sway, surge, heave, roll, pitch and yaw, which will cause the ship to sway violently under severe sea conditions, seriously affecting the safety and efficiency of offshore operations . The wave compensation technology such as the rope traction parallel mechanism or the Stewart compensation platform can effectively suppress or eliminate the influence of the ship's violent swaying, and ensure safe, efficient and accurate navigation and operations at sea. In the process of heave compensation, the relative motion pose between ships must be obtained in real time in order to effectively perform heave compensation through the heave compensation system. [0003] In the prior art, Zhao Jiandong ...

AI Technical Summary

Problems solved by technology

Moreover, the use of monocular vision to detect the pose of the Aruco plane usually faces the following three problems: (1) the pose estimation in the frontal direction is inaccurate; (2) the pose is ambiguous; (3) the position estimation in the depth direction is inaccurate

If binocular or multi-eye vision is used for visual measurement, image depth information can be obtained, but it is more complicated to use each camera for detection and then perform camera matching or directly use the depth map for plane pose detection, and additional errors may occur

The second category involves the coordinate system and timestamp correspondence of multi-sensor fusion.

These two types of methods are very complex in practical applications, and are susceptible to additional errors affecting the detection accuracy

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