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Unmanned surface vehicle water surface target fusion detection method and system

A water surface target and detection method technology, applied in the field of environmental perception, can solve the problems of limited detection distance, low detection accuracy, poor separation of small moving hulls and stationary objects, etc., to achieve accurate results and wide detection range

Pending Publication Date: 2022-01-11
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the detection distance of these two sensors is limited. In addition to the detection effect, when the visual detection method is used during travel, the detection accuracy is very low and the error is large; the visual detection method is often affected by sea waves when performing image segmentation. effect of separating small moving hulls from stationary objects is also poor

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  • Unmanned surface vehicle water surface target fusion detection method and system
  • Unmanned surface vehicle water surface target fusion detection method and system
  • Unmanned surface vehicle water surface target fusion detection method and system

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Embodiment 1

[0047] As an active sensor, lidar has some excellent properties, can be used close to all-weather conditions, and the detection effect is relatively stable. Therefore, lidar is undoubtedly a better choice for short-distance detection methods.

[0048] The maritime radar used by the unmanned boat can detect the water surface at a long distance, but the maritime radar is usually limited by its inherent characteristics, and the detection effect on the short-distance target, especially the water surface environment within 100m close to the ship, is very poor. And the detection accuracy of maritime radar is far lower than that of lidar and camera.

[0049] Based on this, the unmanned surface target fusion detection method based on laser radar and maritime radar proposed by the present invention combines the two sensors to learn from each other, especially in the range where the two detection distances intersect, through weighted fusion , making the surface target detection effect o...

Embodiment 2

[0085] Such as figure 2 As shown, a kind of unmanned surface target fusion detection method provided in this embodiment includes:

[0086] Step 201: Acquire lidar point cloud detection data and maritime radar point cloud detection data.

[0087] Step 202: Process the lidar point cloud detection data and the maritime radar point cloud detection data respectively to obtain a lidar point cloud cluster and a maritime radar point cloud cluster.

[0088] Step 203: Carry out target fitting processing on the lidar point cloud cluster and the maritime radar point cloud cluster respectively, to obtain water surface target information corresponding to the lidar and water surface target information corresponding to the maritime radar.

[0089] Step 204: Perform weighted fusion processing on the water surface target information corresponding to the lidar and the water surface target information corresponding to the maritime radar to determine the final water surface target information. ...

Embodiment 3

[0101] Such as image 3 As shown, the present embodiment provides an unmanned surface target fusion detection system, including:

[0102] The data acquisition module 301 is configured to acquire lidar point cloud detection data and maritime radar point cloud detection data.

[0103] The data processing module 302 is configured to respectively process the lidar point cloud detection data and the maritime radar point cloud detection data to obtain a lidar point cloud cluster and a maritime radar point cloud cluster.

[0104] The target fitting module 303 is configured to perform target fitting processing on the lidar point cloud cluster and the maritime radar point cloud cluster respectively, to obtain the water surface target information corresponding to the lidar and the water surface target corresponding to the maritime radar information.

[0105] The water surface target information determining module 304 is configured to perform weighted fusion processing on the water sur...

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Abstract

The invention relates to an unmanned ship water surface target fusion detection method and system, and relates to the technical field of environment perception. The method comprises the following steps: respectively processing obtained laser radar point cloud detection data and obtained maritime radar point cloud detection data to obtain a laser radar point cloud cluster and a maritime radar point cloud cluster; performing target fitting processing on the laser radar point cloud cluster and the maritime radar point cloud cluster to obtain water surface target information corresponding to the laser radar and water surface target information corresponding to the maritime radar; and performing weighted fusion processing on the water surface target information corresponding to the laser radar and the water surface target information corresponding to the maritime radar to determine final water surface target information. According to the invention, the data collected by the laser radar and the maritime radar are combined, so that the water surface target detection effect of the unmanned ship is more accurate, and the detection range is wider.

Description

technical field [0001] The invention relates to the technical field of environmental perception, in particular to a fusion detection method and system for an unmanned vehicle surface target. Background technique [0002] Unmanned surface vehicle (USV), also known as unmanned vehicle, can not only realize autonomous navigation, but also can sense the surrounding environmental information in real time, detect obstacles that threaten the surrounding water surface and avoid obstacles. [0003] If an unmanned vehicle can safely and autonomously complete various tasks under changing and complex water surface conditions, it must have good environmental awareness. In the process of actual use, it has always been a difficult point for the unmanned vehicle to accurately perceive its surrounding environment. At present, most unmanned boats use laser radar to scan the water surface or visual detection to obtain environmental perception information, and then complete the unmanned boat's...

Claims

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Application Information

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IPC IPC(8): G01S13/87G01S13/937G01S17/93
CPCG01S13/87G01S13/937G01S17/93
Inventor 王屹辉李小毛瞿栋刘东柯彭艳曹宏昊翁磊袁晓宇
Owner SHANGHAI UNIV