无人艇光视觉感知研究发展综述

Review of development in perception of unmanned surface vehicle based on optical vision

无人艇具有机动灵活、隐蔽性好、活动区域广、使用成本低等优点,因而具有广阔的应用前景。这使得无人艇成为国内外的研究热点,其中感知技术是无人艇执行任务的基础。基于光视觉的感知技术具有应用方便,成本相对较低,数据获取容易及信息量大等优点,得到了国内外学者的广泛研究。本文主要从五个方面探讨光视觉在无人艇中的研究:一是基于水面无人艇的水面图像预处理,主要包括水面图像稳像研究及去雾增强研究;二水界线的检测;三是利用光视觉目标检测;四是水面目标跟踪方法。最后,对无人艇的光视觉研究进行了总结及展望。

With the advantages of high flexibility,good concealment,long cruise range and low cost,the unmanned surface vehicle(USV)has a vast prospect of application.The USV becomes a research hotspot in the world,in which perception technology is the basis of mission accomplishing for USV.The perception technology based on optical vision has the advantages of convenient application,relatively low cost,easy data acquisition and large amount of information,which has been widely studied by scholars in the world.This paper mainly discusses the research of optical vision for USV in five aspects:first,the preprocessing of water surface images on USV,mainly including water surface image stabilization and enhancement by defogging;second,the detection of water boundary;third,the target detection utilizing optical vision;fourth,the tracking method of surface targets.Finally,the optical vision research of USV is summarized and prospected.