基于单目视觉激光成像的水下圆目标三维位姿检测

鲁静; 杨克成; 夏珉; 李微

doi:doi:10.3788/lop50.101103

激光与光电子学进展, 2013, 50 (10): 101103, 网络出版: 2013-08-27

基于单目视觉激光成像的水下圆目标三维位姿检测

Position-Pose Estimationfor Underwater Circular Objects Based on Monocular Laser Imaging

论文大纲

鲁静 ^1,2,*杨克成 ²夏珉 ²李微 ²

作者单位

¹ 湖北第二师范学院计算机学院, 湖北武汉 430205

² 华中科技大学光电子科学与工程学院, 湖北武汉 430074

摘要

为了探索海洋资源，必须对水下目标进行精确定位。提出了一种利用单目视觉进行水下圆目标三维位姿检测的方法。该方法仅需要单摄像机拍摄的一幅水下图像，便能从中快速地识别出圆特征，并对水下光折射造成的图像畸变进行补偿，从而估计圆目标的三维方向和位置。实验表明，利用该方法对水下圆柱体目标的方向检测误差为1.33%，位置检测误差为4.37%；通过移动和重定位该圆柱物体，证实了该方法的稳定性。

Abstract

Localization of underwater objects is essential for exploring the vast ocean resources. We present a monocular-vision-based method for estimating three-dimensional (3D) position-pose of underwater circular features. Using a single camera image, underwater circular features are extracted. After that, the image distortion caused by the underwater environment is compensated, and both the orientation and position of the underwater circular features are estimated. Laboratory experiments demonstrate that the method is capable of estimating the 3D position-pose of a cylindrical object in clean water with the accuracy of orientation and position estimation of 1.33% and 4.37%, respectively. The stability of the method is also analyzed by moving and relocating the cylinder.

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鲁静, 杨克成, 夏珉, 李微. 基于单目视觉激光成像的水下圆目标三维位姿检测[J]. 激光与光电子学进展, 2013, 50(10): 101103. Lu Jing, Yang Kecheng, Xia Min, Li Wei. Position-Pose Estimationfor Underwater Circular Objects Based on Monocular Laser Imaging[J]. Laser & Optoelectronics Progress, 2013, 50(10): 101103.

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