摘要
针对无人船在靠泊过程中自身运动估计和周围环境重建的需求,提出一种基于水面区域去除的船舶航迹估计方法。分析船舶靠泊场景中水域图像的特征,提出水岸线检测方法,将该水岸线检测方法与视觉里程计(Visual Odometry,VO)方法相结合,提出一种泊位水域环境中的船舶航迹估计方法,采用实船试验进行验证。现场试验表明:该方法在自主靠泊场景中对船舶航迹进行估计是可行的,试验结果与真实数据(Real Time Kinematic,RTK)值对比表明:在忽略尺度的情况下,算法估计轨迹的精度可满足靠泊要求。
The ship track estimation method featuring water surface removal is devised in response to the demand of autonomous ships which need to estimate own ship motion and to reconstruct surrounding environment during berthing.The characteristics of water area image in berthing scene are analyzed and the method of shoreline detection is proposed.A method combining the method of water shoreline detection with VO(Visual Odometry)is proposed for estimating the ship track in berthing water environment.The method is verified by sea trial.Compared with RTK(Real Time Kinematic),the accuracy of the algorithm,taking no account of the size of the ship,can meet the berthing requirements.
作者
邹雄
肖长诗
文元桥
周春辉
詹文强
ZOU Xiong;XIAO Changshi;WEN Yuanqiao;ZHOU Chunhui;ZHAN Wenqiang(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan 430063, China)
出处
《中国航海》
CSCD
北大核心
2020年第1期29-34,39,共7页
Navigation of China
基金
国家自然科学基金(51579204)
武汉理工大学自主创新研究基金(2016-YB-029)。
