基于测距声纳与光视觉的水下目标定位方法研究

针对无人水下航行器作业环境的特殊性以及任务需求,为提高光视觉的定位精度,提出了一种基于测距声纳与光视觉的水下目标定位方法。该方法根据摄像机成像的特点,利用测距声纳与摄像机的几何关系设计水下目标定位算法。本文针对规则的水下目标进行定位算法设计,然后通过对水池试验采集的图像中的目标进行定位验证以及误差分析,证明了该定位系统具有较高的定位精度,满足水下作业的需求。

Underwater Target Location based on Ranging Sonar and Optical-Vision

Aiming at the specialty operating environment and task requirements of unmanned underwater vehicle, a method of underwater target location based on ranging sonar and optical-vision was presented to increase the positioning precision of the optical-vision. According to the characteristics of the camera imaging, the method used the geometric relation of ranging sonar and camera to design the location algorithms. The paper designs the location algorithms for the rules target, then analysis the target positioning error of the images collected in the pool. It shows that the positioning system has high positioning accuracy and can meet the needs of underwater operation.