基于单目视觉的助航灯具定位及发光口识别

Location and Identification of Navigation Lights and Light-emitting Ports Based on Monocular Vision

为实现助航灯具的自动清洗,本文提出一种基于单目视觉的助航灯具及其发光口的定位和识别方法。通过提取摄像机画面中的灯具轮廓,采用最小二乘法拟合灯具不发光状态下的椭圆模型,得出灯具中心的像素坐标,采用质心法计算发光状态下光源中心的像素坐标。通过对摄像机的标定,建立地面约束坐标系,实现灯具像素坐标到世界坐标的转换,得到摄像机与灯具的相对位置。

In order to realize the automatic cleaning of navigation lights,a method based on monocular vision is proposed to locate and identify the navigation lighting and its light-emitting ports. By extracting the outline of the lamp in the camera image,the least squares method is used to fit the ellipse model of the lamp without lighting,and the pixel coordinates of the center of the lamp are obtained. The centroid method is used to calculate the pixel coordinates of the light source center in the light emitting state. Through the calibration of the camera,the ground constraint coordinate system is established to achieve the conversion from pixel coordinates to world coordinates,and the relative position between the camera and lamps is obtained.