The invention discloses a binocular vision-based autonomous detection system for obstacles on water of an unmanned ship. A binocular vision system, other sensor modules and a navigation control systemare loaded on the unmanned ship. The binocular vision system is composed of two stereo cameras and a vision collecting and processing unit. The other sensor modules are composed of a GPS, an IMU, a flow velocity sensor and a gyroscope. The binocular vision system is connected with other sensor units and laser; active measurement modes such as radar and ultrasound are compared; mutual interferenceof a plurality of measuring devices in the detection process can be reduced; the probability of being found when the method is used in certain specific environments can be reduced, the system is highin concealment, the three-dimensional coordinates of the target environment can be directly recovered by stereoscopic vision information generated by binocular vision, the depth information of the environment can be obtained, and the system has important practical significance in detecting obstacles and potential collisions in unknown navigation environments.
本发明公开了一种基于双目视觉无人船水上障碍物自主检测系统,所述在无人船上装载有双目视觉系统、其他传感器模块和航行控制系统,所述双目视觉系统由两台立体像机、视觉采集处理单元构成,其他传感器模块由GPS、IMU、流速传感器和陀螺仪组成,双目视觉系统与其他传感器单元与激光,雷达及超声等主动测量方式相比,可减少多个测量装置在检测过程中的相互干扰,可降低在某些特定环境使用时被发现的概率,具有较强的隐蔽性,其中双目视觉其产生的立体视觉信息可以直接恢复目标环境的三维坐标,可获得环境的深度信息,对于未知航行环境中的障碍物及潜在碰撞的检测具有重要的实用意义。
Binocular vision-based autonomous detection system for obstacles on water of unmanned ship
一种基于双目视觉无人船水上障碍物自主检测系统
2020-08-07
Patent
Electronic Resource
Chinese
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