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Target recognition method in uuv fork-column recycling

A target recognition and target technology, applied in the field of target recognition, can solve problems such as disadvantage and difficulty in target recognition and target recognition.

Active Publication Date: 2022-08-02
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 recognition method in uuv fork-column recycling
  • Target recognition method in uuv fork-column recycling
  • Target recognition method in uuv fork-column recycling

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specific Embodiment approach

[0081] Specific implementation: combined figure 1 , 2 Illustrate this embodiment, the target identification 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 are almost the same, k AD , k BD , k CD The values ​​of , are all different and the same as k AB , k AC , k BC A big difference. In this way, ABC can be judged, but the A, B, and C light sources cannot be specifically distinguished.

[0085] Step 3: It is known that the number of target light sources is 4, ABC can be determined t...

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Abstract

The invention provides a target identification method in UUV fork-column recycling. Step 1, obtaining underwater images through an underwater camera on the 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, UUV fork-column recovery process , identify the number of target light sources in the L-shaped light source array through the target number identification method of sub-pixel contour; otherwise, adjust the UUV position and heading to continue to collect underwater images; The target identification method of slope and relative distance identifies the target light source of the L-shaped light source array. The invention realizes the target recognition of the L-shaped light source array in the UUV recycling process, improves the accuracy of target recognition in the UUV recycling process, and further reduces the positioning error of the UUV relative to the L-shaped light source array.

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 contour. Background technique [0002] Due to the limitation of the volume of the Unmanned Underwater Vehicle (UUV), the energy carried by itself is limited, so it is necessary to periodically recycle the UUV to supplement its energy. [0003] Due to the complex and changeable underwater environment, underwater images will be affected by factors such as noise and impurities, which make target recognition in underwater images more difficult than those in general images. These effects are detrimental to the identification of target light sources by cameras on UUVs. SUMMARY OF THE INVENTION [0004] The purpose of the present invention is to provide a target recognition method in UUV fork-column recycling that can ensure the accuracy of visual target recognition...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06V20/05G06V10/26
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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