基于双目视觉的船舶跟踪与定位

Tracking and positioning of ship based on binocular vision

设计了基于双目视觉的船舶跟踪与定位系统,并且完成对应算法设计.算法分为摄像机标定、目标跟踪、立体匹配、视差定位4个模块,其中,跟踪模块以目标窗口的形式给出跟踪结果,匹配模块在跟踪结果中进行左右目立体匹配,定位模块根据左右目匹配点对的像素位置计算其在物理空间的坐标,减少了匹配时间.实验结果表明,该方式可实现实时跟踪目标并给出目标的准确位置,满足应用要求.该定位系统可同时完成动态目标跟踪和定位,提供三维图像的丰富信息,具有很强的推广应用价值.

This paper designs the tracking and positioning system for ship based on binocular vision and finishes the corresponding algorithm. This algorithm contains four modules,namely camera calibration,object tracking,stereo matching and disparity locating. The tracking module tracks and gives object bounding as a result,the matching module carries out the binocular stereo matching in the tracking window,and the disparity locating uses the pixel location corresponding to the stereo matching to calculate the object＇s coordinate in physical space,which can reduce matching time. Results indicate that the design works well in real-time tracking and gives the accurate location of object,which meets the application requirements. This system can complete the task of tracking and positioning of dynamic target and provide rich information of 3D image at the same time,which has great application value.