共查询到20条相似文献，搜索用时 625 毫秒
1.
This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow (underwater acoustic images) is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust. 相似文献
2.
This paper describes a new framework for detection and tracking of underwater pipeline,which includes software system and hardware system.It is designed for vision system of AUV based on monocular CCD camera.First,the real-time data flow from image capture card is pre-processed and pipeline features are extracted for navigation.The region saturation degree is advanced to remove false edge point group after Sobel operation.An appropriate way is proposed to clear the disturbance around the peak point in the process of Hough transform.Second,the continuity of pipeline layout is taken into account to improve the efficiency of line extraction.Once the line information has been obtained,the reference zone is predicted by Kalman filter.It denotes the possible appearance position of the pipeline in the image.Kalman filter is used to estimate this position in next frame so that the information of pipeline of each frame can be known in advance.Results obtained on real optic vision data in tank experiment are displayed and discussed.They show that the proposed system can detect and track the underwater pipeline online,and is effective and feasible. 相似文献
3.
Stokey R. Allen B. Austin T. Goldsborough R. Forrester N. Purcell M. von Alt C. 《Oceanic Engineering, IEEE Journal of》2001,26(4):487-497
A dock for an autonomous underwater vehicle (AUV) allows the vehicle to be left on station ready for deployment. However, it represents a significant engineering challenge, as docking requires an accurate navigation system so that the vehicle can find the dock, and complex mechanics to make the required underwater power and data connections. This paper describes the docking system built for the REMUS AUV. It outlines the basis for the design decisions, the as-built configuration, and its performance once deployed. It also delineates the lessons learned from the deployments, and the refinements in the vehicle that have been made since that time, that will improve the system's utility and reliability 相似文献
4.
Large Area 3-D Reconstructions From Underwater Optical Surveys 总被引：1，自引：0，他引：1
《Oceanic Engineering, IEEE Journal of》2009,34(2):150-169
5.
针对水下机器人作业过程中的近距离引导水下对接问题,以自治缆控水下机器人(ARV)为研究对象,为实现快速、高精度的水下对接,设计了基于反射光源识别的单目视觉辅助水下对接方法。通过在对接口布置反光带并将其作为目标图像,设计了图像处理和特征点提取的算法,经过图像特征信息的分析处理,优化算法的时间复杂度,提高了特征点提取的准确率和识别效率。最后设计了传统的引导灯方案与反光带方案的对比试验,验证算法的可行性,证明在水下环境下识别反射光源的方法极大提升了位置估计的准确率,同时在计算速度上也有显著提高,弥补了传统水下对接方法中精度不足或计算量大的缺陷,更好地满足了ARV水下对接的需求,能为潜水器实现水下自主对接提供参考依据。 相似文献
6.
自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。 相似文献
7.
以便携式自主水下机器人(AUV)和罩式导向对接平台的水下对接过程为研究对象,将碰撞力大小和对接时间作为评价指标,研究导向罩形状、对接管尺度以及AUV与对接管的偏心距对整个对接过程的影响。在三维建模的基础上,使用ADAMS软件进行动力学仿真分析,结果表明,减小导向罩开口角度、增大对接管直径、减小偏心距可以适当减小碰撞力和对接时间。通过对上述影响因素与评价指标建立函数关系,利用多目标优化设计的方法并结合实际情况对参数做出合理的分析和筛选,为水下机器人对接平台提供设计依据。 相似文献
8.
水下对接传输技术作为自主水下机器人（autonomous underwater vehicle,简称AUV）水下能源补给及数据传输的重要方式,受到国内外的重点关注,目前采用的水下对接传输方式主要分为接驳插拔传输及无线感应传输。在探究国内外AUV水下对接研究概况的基础上,归纳、总结以上两种传输方式的研究现状,分析对比其在对接传输效率、发展限制因素、对接控制技术等方面的区别。通过分析发现,接驳插拔传输在传输效率及功率方面具备优势,无线感应传输则具有更高的简易性、经济性。此发现为不同作业需求下传输方式的选择提供了基础。通过技术发展限制因素对比得出,在未来技术发展方向上,接驳插拔传输技术需提升系统稳定性、灵活性及费效比,无线感应传输需解决能量损耗、系统鲁棒性及涡旋损耗等问题。对两种传输技术未来发展前景及方向的预测,能够为AUV水下传输的发展提供重要参考。 相似文献
9.
Singh H. Bellingham J.G. Hover F. Lemer S. Moran B.A. von der Heydt K. Yoerger D. 《Oceanic Engineering, IEEE Journal of》2001,26(4):498-514
In this paper, we examine the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We present a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction. A passive latch on the AUV and a pole on the dock accomplish the task of mechanically docking the vehicle. We show that our technique for homing is extremely robust in the face of the two dominant sources of error-namely the presence of currents and the presence of magnetic anomalies. Our strategy for homing is independent of the initial bearing of the dock to the AUV, includes a method for detecting when the vehicle has missed the dock, and automatically ensures that the AUV is in a position to retry homing with a greater chance of success. Our approach is seen to be extremely successful in homing the vehicle to the dock, mechanically attaching itself to the dock, aligning inductive cores for data and power transfer, and undocking at the start of a fresh mission. Once the AUV is on the dock, we present a methodology that allows us to achieve the complex tasks with ensuring that the AUV is securely docked, periodically checking vehicle status, reacting to a vehicle that requires charging, tracking it when it is out on a mission, archiving and transmitting via satellite the data that the AUV collects during its missions, as well as providing a mechanism for researchers removed from the site to learn about vehicle status and command high-level missions. The dock is capable of long-term deployments at a remote site while respecting the constraints - low power, small size, low computational energy, low bandwidth, and little or no user input - imposed by the amalgamation of acoustic, electronic and mechanical components that comprise the entire system 相似文献
10.
Recent advances in autonomous underwater vehicle (AUV) and underwater communication technology have promoted a surge of research activity within the area of signal and information processing. A new application is proposed herein for capturing and processing underwater video onboard an untethered AUV, then transmitting it to a remote platform using acoustic telemetry. Since video communication requires a considerably larger bandwidth than that provided by an underwater acoustic channel, the data must be massively compressed prior to transmission from the AUV. Past research has shown that the low contrast and low-detailed nature of underwater imagery allows for low-bit-rate coding of the data by wavelet-based image-coding algorithms. In this work, these findings have been extended to the design of a wavelet-based hybrid video encoder which employs entropy-constrained vector quantization (ECVQ) with overlapped block-based motion compensation. The ECVQ codebooks were designed from a statistical source model which describes the distribution of high subband wavelet coefficients in both intraframe and prediction error images. Results indicate that good visual quality can be achieved for very low bit-rate coding of underwater video with our algorithm 相似文献
11.
Przemysław Herman 《Ocean Engineering》2009,36(3-4):306-312
A method for dynamics investigation and coupling detection between velocities of autonomous underwater vehicles (AUVs) is presented in this paper. The method is based on transformation of equations of motion, which are usually used for an underwater vehicle, into equations with a diagonal mass matrix. The obtained equations contain quasi-velocities and allow one to give a further insight into the AUV dynamics especially for an underactuated system. Some advantages of the proposed approach are discussed, too. An analytical example for a 3-DOF AUV shows possible application of the transformed equations. Moreover, the given approach is validated via simulation on a 6-DOF vehicle. 相似文献
12.
Autonomous underwater vehicle-based concurrent detection and classification of buried targets using higher order spectral analysis 总被引：1，自引：0，他引：1
This paper presents a processing concept for autonomous underwater vehicle (AUV)-based concurrent detection and classification (CDAC) of mine-like objects. In the detection phase, the AUV seeks objects of interest using a simple energy detector combined with a peak tracking mechanism. Upon detection, the processing mechanism changes to a higher order spectral (HOS) classification process. The system is demonstrated through theory, simulation and at-sea experiments to have promise in reducing the false alarm rate of mine detections. The HOS classification mechanism is also shown to have some benefit over classical spectral estimation in all cases. Components of the system concept were also demonstrated live onboard the AUV during the Generic Oceanographic Array Technology Sonar (GOATS 2002) experiment off the coast of Italy, while others are demonstrated using a comprehensive AUV sonar simulation framework. 相似文献
13.
Rongxin Li Haihao Li Weihong Zou Smith R.G. Curran T.A. 《Oceanic Engineering, IEEE Journal of》1997,22(2):364-375
This paper presents a photogrammetric model for digital underwater video imagery, which has been mostly applied to qualitative analysis in the marine environment. With this model, quantitative analysis of underwater images is possible, e.g., to locate positions, calculate sizes, and measure shapes of objects from image features. The underwater photogrammetric model is based on a three-dimensional optical ray tracing technique which rigorously models imaging systems with multilens configurations and multiple refractions. The calibration procedure with two independent phases has been proven to be efficient in simplifying the computation and improving the calibration accuracy. With the current imaging system configuration and photogrammetric model, an accuracy of 0.8 cm in lateral directions and 1.2 cm along the depth direction for objects located about 2-3 m from the camera system in the object space is attainable. A PC-based digital underwater photogrammetric prototype system has been developed to implement the underwater photogrammetric model 相似文献
14.
Feezor M.D. Yates Sorrell F. Blankinship P.R. Bellingham J.G. 《Oceanic Engineering, IEEE Journal of》2001,26(4):515-521
Central to the successful operation of an autonomous undersea vehicle (AUV) is the capability to return to a dock, such that consistent recovery of the AUV is practical. Vehicle orientation becomes increasingly important in the final stages of the docking, as large changes in orientation near the dock are impractical and often not possible. A number of homing technologies have been proposed and tested, with acoustic homing the most prevalent. If AUV orientation is required as well as bearing and distance to the dock, an acoustic homing system will require high update rates, and extensive signal conditioning. An Electromagnetic Homing (EM) system is one alternative that can provide accurate measurement of the AUV position and orientation to the dock during homing. This system offers inherent advantages in defining the AUV orientation, when compared to high frequency acoustic systems. The design and testing of an EM homing system are given, with particular attention to one can be adapted to a wide class of AUVs. A number of homing, docking, and latching trials were successfully performed with the design. Homing data include dead reckoning computation and acoustic tracking of the homing track, and video documentation of homing into the dock 相似文献
15.
Wave measurement based on light refraction 总被引：2，自引：0，他引：2
Some authors have developed a few methods of measuring wave slopes based on light refraction, including the measurement method via the distribution of light intensity or color under water. A new method based on light refraction is specified for the measurement of wave surface elevation in wave flume via imaging technology. A plane painted with black and white stripes is put on the flume floor as an indication plane, which can be arranged easily and cheaply. Compared with the previous methods, the present method is less sensitive to the noise and nonlinear effects of optical process, which can be taken as a digital method. The CCD camera is fixed above the flume with its optical axis arranged vertically to grab the images of stripes modulated by the wave surface. The modulated value can be calculated from the Hilbert transform, and then the wave surface elevation can be obtained. The algorithm and experimental procedure are specified in detail, and some experimental results are provided to show the validity of the present method. 相似文献
16.
Some authors have developed a few methods of measuring wave slopes based on light refraction, including the measurement method via the distribution of light intensity or color under water. A new method based on light refraction is specified for the measurement of wave surface elevation in wave flume via imaging technology. A plane painted with black and white stripes is put on the flume floor as an indication plane, which can be arranged easily and cheaply. Compared with the previous methods, the present method is less sensitive to the noise and nonlinear effects of optical process, which can be taken as a digital method. The CCD camera is fixed above the flume with its optical axis arranged vertically to grab the images of stripes modulated by the wave surface. The modulated value can be calculated from the Hilbert transform, and then the wave surface elevation can be obtained. The algorithm and experimental procedure are specified in detail, and some experimental results are provided to show the validity of the present method. 相似文献
17.
《Oceanic Engineering, IEEE Journal of》2005,30(3):570-587
Underwater imaging is important for scientific research and technology as well as for popular activities, yet it is plagued by poor visibility conditions. In this paper, we present a computer vision approach that removes degradation effects in underwater vision. We analyze the physical effects of visibility degradation. It is shown that the main degradation effects can be associated with partial polarization of light. Then, an algorithm is presented, which inverts the image formation process for recovering good visibility in images of scenes. The algorithm is based on a couple of images taken through a polarizer at different orientations. As a by-product, a distance map of the scene is also derived. In addition, this paper analyzes the noise sensitivity of the recovery. We successfully demonstrated our approach in experiments conducted in the sea. Great improvements of scene contrast and color correction were obtained, nearly doubling the underwater visibility range. 相似文献
18.
Feezor M.D. Yates Sorrell F. Blankinship P.R. 《Oceanic Engineering, IEEE Journal of》2001,26(4):522-525
Central to the successful operation of an autonomous undersea vehicle (AUV) is the capability to return from a mission, in that there is consistent recovery or docking of the AUV. In addition, some missions may require communication with and power transfer to the AUV after docking. This paper describes an inductive system that provides a nonintrusive power and communications interface between the dock and the AUV. The system makes up to 200 W of AC or DC power available to the AUV. The communications interface is 10BaseT Ethernet and is platform- and protocol-independent. The overall design of the system is given as well as results from wet laboratory and field tests 相似文献
19.
A simple underwater video system has been developed for simultaneously imaging sediment suspension and monitoring bed profiles under waves and combined wave-current flows. This consists of a diode-laser-generated light plane and a black-and-white underwater video camera. The laser light illuminates suspended material in section and also provides a bed profile at the bottom. Orthogonal laser/camera pairs are used to obtain both cross-shore and alongshore views. During deployments, the system has been augmented by acoustic backscatter devices for measurement of sediment concentration. As with all video techniques, visibility is a limiting factor, but where turbidity is low to moderate, the results are encouraging. Results on cross-shore and alongshore bed elevation variations and suspension event stales obtained with the video/laser system are presented for two experiments: one at the National Research Council Wave Research Flume in Ottawa, Canada, and the other in the field at Queensland Beach, N.S., Canada, 相似文献
20.
基于光学遥感图像的内孤立波参数反演是一项重要的工作。本文在实验室条件下提出一种新方法用于模拟光滑表面情况下内孤立波的光学遥感成像。基于二维内波水槽、LED平板面光源和CCD相机搭建仿真光学遥感系统探测内孤立波。水平表面的光学遥感图像和垂向内孤立波传播图像被同时探测,旨在探讨在光滑表面下,光学遥感与内孤立波的响应。结果表明,内孤立波传播经过时,CCD1相机获得暗纹,暗纹的特性随光源入射角的变化而变化。光学遥感特征参数和垂向波要素相对应。实验还显示光学遥感图像的暗纹宽度与内孤立波的半波宽度在不同内孤立波振幅下呈现正相关关系。该系统有着现象清晰,重复性高的优点,为定量研究光学遥感成像机理提供科学依据。 相似文献