基于激光与视觉融合的无人船靠泊环境感知系统设计

Design of a berthing environment sensing system for unmanned ships based on laser and vision fusion

为满足无人船自主靠泊过程中对船岸相对距离测量的连续性与高精度的需求,文中以无人船自主靠泊环境感知为研究对象,对无人船自主靠泊的过程进行分析与研究,将立体视觉技术和激光测距技术相结合,设计了一种用于无人船自主靠泊过程中的环境感知系统。运用多传感器数据融合技术对相机和激光雷达的数据进行分析与有效融合,利用视觉识别与快速定位到岸边系泊机械装置,调整旋转云台使激光雷达精确测距,再依据空间坐标转换修正视觉测量值,达到对无人船自主靠泊过程中环境信息的统一认知,得到无人船靠泊过程中高精度的距离信息。实验结果表明,通过融合算法得到的距离值误差可控制在10 mm范围内,为实现无人船自主靠泊提供一种高精度测量方法,促进了无人船领域的发展。

In order to meet the requirements of continuity and high precision in the measurement of the relative distance between the ship and the shore during the autonomous berthing of unmanned ships,the autonomous berthing process of unmanned ships was analyzed and studied by taking the autonomous berthing environment perception of unmanned ships as the research object,and a kind of environment perception system during the autonomous berthing of unmanned ships was designed by combining stereo vision technology with laser ranging technology.Multi-sensor data fusion technology is used to analyze and effectively fuse the data of camera and lidar.By using visual recognition and rapid positioning,the mooring mechanism on the shore is located,and the rotating pan/tilt is adjusted to make the lidar accurately measure the distance.Then,the visual measurement value is corrected according to the spatial coordinate conversion,so as to realize the unified cognition of environmental information during the autonomous berthing of unmanned ships and obtain high-precision distance information during the berthing of unmanned ships.The results show that the distance error can be controlled within 10 mm by the fusion algorithm,which provides a high-precision measurement method for realizing autonomous berthing of unmanned ships and promotes the development of unmanned ships.