|Table of Contents|

Multi-target locating method of surface ship based on monocular vision(PDF)

《交通运输工程学报》[ISSN:1671-1637/CN:61-1369/U]

Issue:
2015年05期
Page:
91-100
Research Field:
交通信息工程及控制
Publishing date:

Info

Title:
Multi-target locating method of surface ship based on monocular vision
Author(s):
LIU Chen-guang1; 2;  CHU Xiu-min1;  XIE Shuo1; 2;  WANG Le1; 3
1. National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, Hubei, China; 2. School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China; 3. School of Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China
Keywords:
ship locating;  monocular vision;  multi-target;  color feature;  dostortion correction;  target extraction
PACS:
U675.7
DOI:
-
Abstract:
Aiming at the multi-target real-time locating of surface ship, an algorithm for real-time locating and motion parameters calculating of ship was proposed. The proposed algorithm was realized by processing the images captured by monocular camera with fixed position and perspective. The captured images were preprocessed with Gaussian filter and distortion correction, and a multi-target recognition method was proposed based on ship color features, size characteristics, and kinematic characteristics(every target could be identified individually). A transformation model between image coordinate system and real coordinate system, and a computing model for ship speed, course and trajectory calculation were built. A real locating system was built in experimental pool, a real-time locating program was developed, and the locating precision and trajectory tracking performance were verified. Verification result indicates that in the circumstance with disturbances, the precise recognition of two ships can be realized by using proposed locating algorithm. The average locating errors in lateral and longitudinal orientation are 0.058 m and 0.209 m respectively before amendment, 0.038 m and 0.124 m respectively after amendment. The update frequency of camera locating data is 8 Hz, which can meet the control requirements. The real-time position, speed and course of ship can be correctly calculated, and the trajectory is smooth without any abnormal location point. 1 tab, 17 figs, 23 refs.

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Last Update: 2015-10-20