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Target identification method in UUV fork column type recovery

A target recognition and target technology, applied in the field of target recognition, can solve problems such as unfavorable and difficult target recognition, and achieve the effect of good recognition and small amount of calculation

Active Publication Date: 2020-01-21
HARBIN ENG UNIV
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Problems solved by technology

[0003] Due to the complex and changeable underwater environment, underwater images will be affected by factors such as noise and impurities, which makes target recognition in underwater images more difficult than target recognition in general images.
These effects are detrimental to the identification of target light sources by the cameras on the UUV

Method used

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  • Target identification method in UUV fork column type recovery
  • Target identification method in UUV fork column type recovery
  • Target identification method in UUV fork column type recovery

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specific Embodiment approach

[0081] Specific implementation method: combined figure 1 , 2 To illustrate this embodiment, the target recognition method based on slope and relative distance in the UUV fork column recovery process of this embodiment is specifically prepared according to the following steps:

[0082] Step 1. Obtain an underwater image containing an L-shaped light source array through image preprocessing;

[0083] Step 2: Determine the target light source ABC according to the slopes of the four target light sources in the L-shaped light source array.

[0084] By calculating the slope of AB, AC, AD, BC, BD, CD. The slope is denoted by k, where k AB 、k AC 、k BC values ​​are almost the same, k AD 、k BD 、k CD The values ​​of are all different and have the same value as k AB 、k AC 、k BC A big difference. In this way, ABC can be judged, but A, B, and C light sources cannot be distinguished specifically.

[0085] Step 3: The number of target light sources is known to be 4, ABC can be de...

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Abstract

The invention provides a target identification method in UUV fork column type recovery. The method comprises the following steps: step 1, acquiring an underwater image through an underwater camera onthe UUV; step 2, performing image preprocessing through median filtering and threshold segmentation to obtain an underwater image containing an L-shaped light source array; step 3, in the UUV fork column type recycling process, recognizing the number of target light sources in the L-shaped light source array through a target number recognition method of a sub-pixel contour; otherwise, adjusting the position and heading of the UUV to continuously acquire the underwater image; step 4, in the UUV fork column type recycling process, recognizing a target light source of the L-shaped light source array through a slope and relative distance target recognition method. According to the invention, the target identification of the L-shaped light source array in the UUV recovery process is realized, the accuracy of the target identification in the UUV recovery process is improved, and the positioning error of the UUV relative to the L-shaped light source array is further reduced.

Description

technical field [0001] The invention relates to a target recognition method, in particular to a target recognition method based on slope and relative distance and a target number recognition method based on sub-pixel outline. Background technique [0002] Due to the limitation of the volume of the Unmanned Underwater Vehicle (UUV), the energy carried by itself is limited, so the UUV needs to be recycled regularly to replenish its energy. [0003] Due to the complex and changeable underwater environment, underwater images will be affected by factors such as noise and impurities, which makes target recognition in underwater images more difficult than target recognition in general images. These effects are detrimental to the identification of target light sources by the cameras on the UUV. Contents of the invention [0004] The purpose of the present invention is to provide a target recognition method in UUV fork column recovery that can ensure the accuracy of visual target ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06V20/10
Inventor 张伟李子轩宫鹏王茜萌潘珺伍文华李本银
Owner HARBIN ENG UNIV
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