Detecting and positioning method and system for aiming at underwater obstacles

Abstract

The invention relates to a detecting and positioning method and a detecting and positioning system for aiming at underwater obstacles. The detecting and positioning system comprises a multi-beam image sonar and a computer. Firstly, an underwater sonar image in the forward direction is obtained through the multi-beam image sonar arranged on an autonomous underwater vehicle (AUV); then the image noise is reduced through a median filter so as to improve the image quality; after the obstacles and a background are segmented by utilizing an image segmenting algorithm, and according to a segmenting threshold value, each pixel point in a scene image is subjected to the binarization treatment; and finally an obstacle outline is obtained from a binary image, and according to the obtained outline, the size and the location of the obstacle are calculated. The detecting and positioning method can rapidly detect the obstacles of an unmanned surveying vessel or the underwater vehicle in the forward direction, can calculate the size and the location of the obstacle, and can be directly used for underwater navigation.

Description

technical field [0001] The invention relates to a method and system for detecting and locating underwater obstacles, which can detect obstacles within the field of view of sonar in real time and calculate the size and position of the obstacles. Background technique [0002] In the process of advancing in an unknown underwater environment, obstacle avoidance capability is a basic requirement for AUV (Autonomous Underwater Vehicle, autonomous underwater robot). The primary task of the obstacle avoidance system is to detect obstacles from the image obtained by the imaging device, segment the obstacle and the background, and calculate the size and position of the obstacle. How to quickly and effectively segment the background and obstacles, and accurately calculate the size and position of obstacles is the focus of current research. [0003] At present, detection and positioning methods and systems for underwater obstacles often have the problems of poor adaptability and poor a...

AI Technical Summary

Problems solved by technology

[0004] In view of the poor adaptability and poor accuracy of the existing obstacle detection and positioning methods and systems in the underwater environment, the purpose of the present invention is to provide a detection and positioning method and system for underwater obstacles, which can real-time high-resolution High-speed sonar images are processed to detect and calculate the size and position of underwater obstacles, which is conducive to improving the obstacle avoidance ability of AUV

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