Vision-based underwater cluster neighbor tracking measurement method

A technology of tracking measurement and clustering, which is applied in the directions of measuring devices, surveying and navigation, image data processing, etc., can solve problems such as difficult to ensure tracking accuracy, and achieve the effect of good real-time performance and small amount of calculation

Pending Publication Date: 2021-08-10
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

The tracking algorithm based on feature points is difficult to guarantee the accuracy of tracking when the target is rotated or blocked

Method used

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  • Vision-based underwater cluster neighbor tracking measurement method
  • Vision-based underwater cluster neighbor tracking measurement method
  • Vision-based underwater cluster neighbor tracking measurement method

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Embodiment Construction

[0057] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0058] In the embodiment of the present invention, the autonomous bionic robot fish Robolab-Edu is used as a test platform to verify the underwater cluster neighbor measurement method:

[0059] The robot fish (lower computer) and the PC (upper computer) communicate through WIFI through the router, so that the PC can remotely log in to the Nanopi-S2 of the robot fish, and carry out secondary development of its visual perception software system. In the experimental environment (such as Figure 4 ), the movement of the observation robot fish and neighbor robot fish is captured in real time by the camera erected above the pool, and transmitted to the PC to track and draw their trajectories.

[0060] Put the Robolab-Edu autonomous bionic robot fish into the experi...

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Abstract

The invention provides a vision-based underwater cluster neighbor measurement method. Based on a Meanshift tracking algorithm, a target color probability density distribution diagram is adopted as a feature of target search, and the algorithm is converged to a target real position through continuous iteration, so that a target tracking function is realized; underwater neighbors are positioned by using similar triangular target ranging and tangent function target angle measurement. The algorithm is small in calculation amount, good in real-time performance and insensitive to external environment interference.

Description

technical field [0001] The invention is a vision-based underwater cluster neighbor tracking measurement method, which is mainly applied to underwater autonomous vehicles with limited visual information. Background technique [0002] In recent years, autonomous underwater vehicles (AUVs) have attracted much attention with the implementation of the national marine strategy, and AUV clusters are a basic and innovative model of the deep integration of "artificial intelligence + marine unmanned systems". technology has attracted the attention of many researchers. Make multiple AUVs cooperate with each other like wolves, bee swarms, and fish swarms in nature to complete complex group movements such as foraging, nesting, enemy defense, and migration. Using independent individuals with very limited perception and action capabilities, by following some simple Behavioral rules and joint completion of complex tasks are the core issues in the study of cooperative control of underwater ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/73G06K9/46G06K9/62G06T7/66G01C21/00
CPCG06T7/246G06T7/73G06T7/66G01C21/00G06T2207/10016G06T2207/10024G06T2207/30241G06V10/50G06V10/56G06V10/462G06V2201/07G06F18/22
Inventor 彭星光刘通宋保维潘光张福斌高剑李乐张立川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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