基于双目视觉与ToF结合的海洋吊装定位研究

Research on Marine Hoisting Location Based on Binocular Vision and ToF

在海洋环境进行吊装补给作业时,由于海浪及海风等外界环境的影响,导致被吊物与船舶之间产生难以预测的相对运动,需要补偿系统对于货物的位姿进行实时调整。研究一种基于双目视觉及ToF测距结合的方法对海洋吊装进行定位,以提升定位精度。将ToF相机的深度图与双目相机的视差图进行结合,通过深度补全、深度稠密重建求取结合视差。通过实验表明:该方法能够准确定位被吊物的空间位置,为海洋吊装精确作业提供检测方法,提升海洋吊装作业效率。

In the marine environment for lifting supply operations,due to the waves and winds and other external environment,resulting in unpredictable relative motion between the lifting objects and the ship,compensation system for real-time adjustment of the position of the goods was needed.A method based on binocular vision and TOF ranging was studied to locate the marine hoisting to improve the positioning accuracy.The depth map of the ToF camera was combined with the disparity map of the binocular camera,and the combined disparity was obtained by depth completion and depth dense reconstruction.Experiments show that this method can accurately locate the spatial position of the suspended object,providing a detection method for the precise operation of marine hoisting,and improve the efficiency of marine hoisting operation.