Ship image target positioning method based on multi-camera combined with double-difference calculation

Abstract

The invention discloses a ship image target positioning method based on multi-camera combined with double-difference calculation. The method comprises the following steps: detecting and calculating longitude and latitude coordinates of a target ship by each calibrated camera; obtaining a distance double-difference measurement value at a corresponding moment by combining latitude and longitude coordinates of the camera; meanwhile, calculating to obtain a unit vector between the position of the camera and the measurement position of the target ship at the initial moment; and establishing an observation equation according to an approximate vector relationship between the distance double-difference measurement value and the corresponding unit vector, and solving the motion distance of the target ship. The method has the advantages that the positioning effect of the single camera on the ship image target is improved, and the ship target is accurately positioned.

Description

technical field [0001] The invention belongs to the field of ship traffic supervision, and in particular relates to a multi-camera-based ship image target positioning method combined with double-difference calculation. Background technique [0002] At present, due to the rapid development of image and video processing, the video detection rate has reached a faster level, and the information in the video image can be collected richly. The deployment of closed circuit television (CCTV) cameras in the vessel traffic management system (VTS) is also It will be strengthened accordingly. In the VTS system, a wide range of CCTV cameras are deployed, and its detection coverage can reach small and medium-sized ships that are not equipped with AIS (Automatic Ship Identification), which can efficiently detect ships in the video, and can obtain ship detection based on pixel information. Box positioning information. Now, the patent application CN202110381908.1 has disclosed a method of ...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-camera-based ship image target positioning method combined with double-difference calculation to solve the problem of positioning technology, because the accuracy of image positioning technology needs to be improved, and the target ship in the image is vulnerable to angle, Due to the influence of occlusion and weather, compared with the positioning effect of automatic ship identification and radar, the positioning effect of a single camera on the target of the ship image is still subject to many technical problems caused by error interference.

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