船舶移动路径三维动态场景重建仿真

3D dynamic scene reconstruction simulation of ship movement path

为保障船舶移动过程中的安全性,提出船舶移动路径三维动态场景重建方法。船舶航行过程中,通过相机等视觉传感器在未知环境下连续获取船舶移动路径图像;采用基于ORB特征提取的算法提取船舶移动路径图像内的特征点,根据汉明距离进行特征点匹配;通过对极几何解算特征点匹配结果获取相机的位姿信息;采用基于特征相关性筛选的关键帧选取机制获取全部关键帧,通过关键帧的点云拼接实现船舶移动路径三维动态场景重建。仿真结果显示,该方法不仅能够有效实现特征点匹配,且正确匹配率达到97%以上,三维场景重建结果的均方误差控制在0.2以下,结构相似性始终高于95%。

To ensure the safety of ship movement,a three-dimensional dynamic scene reconstruction method for ship movement path is studied.During ship navigation,visual sensors such as cameras are used to continuously obtain images of the ship's movement path in unknown environments;Using an ORB based feature extraction algorithm to extract feature points within the ship's movement path image,and matching feature points based on Hamming distance;Obtain camera pose information by calculating feature point matching results through polar geometry;Adopting a keyframe selection mechanism based on feature correlation filtering to obtain all keyframes,the 3D dynamic scene reconstruction of ship movement path is achieved through point cloud concatenation of keyframes.The simulation results show that this method can not only effectively achieve feature point matching,but also achieve a correct matching rate of over 97%.The mean square error of the 3D scene reconstruction results is controlled below 0.2,and the structural similarity is always above 95%.