A BEV vision fusion method and system for intelligent supervision of inland waterways

By deploying camera systems in the waterway and generating bird's-eye view images of BEVs, combined with electronic chart data, the problems of blind spots in the supervision of vessels without AIS equipment and insufficient dynamic perception have been solved, realizing comprehensive, real-time monitoring of the waterway environment and consistent information display.

CN121437613BActive Publication Date: 2026-05-26DALIAN MARITIME UNIVERSITY
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Patent Information

Application Number
CN202511572483.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-10-30
Publication Date
2026-05-26
Estimated Expiration
2045-10-30

AI Technical Summary

Technical Problem

In existing technologies, the fusion mechanism of electronic charts and AIS data has blind spots, making it difficult to monitor ships that have not turned on their AIS devices. The dynamic perception capability is insufficient, and the lack of spatial correlation between video images and charts results in insufficient perception coverage and timeliness of the waterway monitoring system in complex waters.

Method used

By deploying shore-based camera systems, a transformation model from pixel coordinates to real-world coordinates is established. Inverse perspective mapping algorithms are used to generate bird's-eye view BEV images. Electronic chart data is unified under the same geographic reference frame to achieve spatial alignment and overlay rendering of BEV images and ENC data. Target recognition and matching are then performed in conjunction with AIS data.

Benefits of technology

It enables comprehensive identification of vessels with and without AIS activated in the waterway, improves the real-time performance and accuracy of vessel identification and traffic situation monitoring, constructs a fusion system of dynamic visual perception and nautical chart data, and enhances the information integrity and scenario consistency of the navigation system.

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Abstract

This invention discloses a BEV (Bird's Eye View) visual fusion method and system for intelligent inland waterway monitoring. The method includes: generating a BEV using shore-based camera calibration and inverse perspective mapping (IPM); projecting electronic chart (ENC) data onto the same plane coordinates and performing online calibration using shoreline, fixed navigation marks, and other elements as references to suppress scale deviations caused by extrinsic parameter drift and water level changes; performing time alignment and forward extrapolation based on historical changes on Automatic Identification Information (AIS) data; combining this with vessel targets detected in the BEV view; using a matching range that automatically adjusts according to the scene to achieve spatiotemporal correspondence; and performing consistency checks based on the waterway centerline and navigation boundaries; and explicitly marking and alerting targets that do not correspond or exhibit anomalies. The method and system can operate in real-time on shore, enabling unified display and reliable identification of multi-source data. It effectively reduces mismatches and missed detections under conditions of dense vessel traffic, AIS message delays, and obstruction, improving the accuracy and availability of waterway traffic monitoring. The attached figure is a schematic diagram of the method flow of this invention.
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