An Environmental Situation Assessment Method for Autonomous Grasping of Underwater Visual Targets

Abstract

The invention relates to the field of computer vision technology, and specifically discloses an environmental situation assessment method for autonomous grasping of underwater visual targets, aiming at the operation of underwater manipulators, the position information and risk coefficient of dangerous objects in the underwater environment are calibrated in advance Evaluating the impact of grade information on object detection and recognition networks N 1 For training, the trained target detection and recognition network N 1 It can identify the location of dangerous objects in the underwater source image taken by any monocular camera and the risk coefficient evaluation level of the dangerous object, and combine the depth estimation image to generate the corresponding environmental situation assessment map to form a loss with the environmental situation assessment true value image , so that the information fusion network N 2 Optimized, the optimized information fusion network N 2 The generated environmental situation assessment map can be used as an important basis for subsequent underwater environmental operations such as path planning, autonomous obstacle avoidance and grasping, etc., so that the robot can be guided to achieve the best behavior at a higher level.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to an environmental situation assessment method for autonomous grasping of underwater visual targets. Background technique [0002] In order for the robotic arm to perform tasks in a complex and dynamic underwater environment, it must have the ability to intelligently analyze the external environment. Risk assessment of the surrounding environment is an important guarantee for the safety and completion rate of manipulators and underwater vehicles. At the same time, environmental situation assessment can also be regarded as the process of the robot understanding the surrounding environment and modeling the environment, which is an important basis for subsequent path planning. Compared with traditional artificial potential field methods, behavior decomposition methods, and optimization-based algorithms, environmental situation assessment can guide robots to achieve optimal be...

AI Technical Summary

Problems solved by technology

[0003] The present invention provides an environmental situation assessment method for autonomous grasping of underwater visual targets, and the technical problem to be solved is that currently, for the underwater manipulator operation, the factors considered are not comprehensive enough, and there is no relatively complete environmental situation assessment strategy , which can reasonably plan the path for the robot and realize autonomous obstacle avoidance and grasping

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