中国激光, 2014, 41 (s1): s109006, 网络出版: 2014-07-03
基于可见光图像的智能水下机器人管道跟踪系统
Autonomous Underwater Vehicle Tracking Pipeline System Based on Optical Images
机器视觉 智能水下机器人 管道检测 改进Hough变换 可见光图像 machine vision autonomous underwater vehicle pipeline detection improved Hough transform optical images
摘要
针对智能水下机器人(AUV)的海底管道自动识别与跟踪问题,从仿真环境构建、图像处理、管道识别及环境建模等数据层次进行了分析,搭建了一套完整的水下管道识别与跟踪系统。在管道识别过程中,针对传统的Hough直线拟合的缺点,提出了基于特征聚类的伪假区域的去除和峰值点邻域逆向处理的改进Hough变换。并利用所搭建的三维仿真环境,对直管和弯管在线进行了多次检测和跟踪试验。仿真实验结果表明通过管道识别和环境映射,本套系统能有效完成水下管道自主检测和跟踪。
Abstract
Considering the issue of underwater pipeline recognition and tracking using autonomous underwater vehicle(AUV), the data flow is analyzed on the basis of simulation environment establishment, image processing, pipeline recognition and environment model. A complete underwater pipeline detecting and tracking system is proposed. In the process of pipeline recognition, to overcome the defect of line fitting using traditional Hough transform, an improved Hough transform is presented to dislodge the non-pipeline area in the view of feature clustering and to consider neighborhood of peak value process. Straight and curved pipelines are detected and tracked through the three-dimensional simulation environment for several times. Experiment results indicate that the presented system can effectively and autonomously detect and track pipelines with pipeline recognition and environment mapping.
万磊, 黄蜀玲, 张铁栋, 张强. 基于可见光图像的智能水下机器人管道跟踪系统[J]. 中国激光, 2014, 41(s1): s109006. Wan Lei, Huang Shuling, Zhang Tiedong, Zhang Qiang. Autonomous Underwater Vehicle Tracking Pipeline System Based on Optical Images[J]. Chinese Journal of Lasers, 2014, 41(s1): s109006.