共查询到20条相似文献，搜索用时 5 毫秒
1.
Foresti G.L. Murino V. Regazzoni C.S. Trucco A. 《Oceanic Engineering, IEEE Journal of》1997,22(1):57-65
This paper describes a voting-based approach for the fast automatic recognition of man-made objects and related attitude estimation in underwater acoustic images generated by forward-looking sonars or acoustic cameras. In general, the continuous analysis of sequences of images is a very heavy task for human operators and this is due to the poor quality of acoustic images. Hence, algorithms able to recognize an object on the basis of a priori knowledge of the model and to estimate its attitude with reference to a global coordinate system are very useful to facilitate underwater operations like object manipulation or vehicle navigation. The proposed method is capable of recognizing objects and estimating their two-dimensional attitude by using information coming from boundary segments and their angular relations. It is based on a simple voting approach directly applied to the edge discontinuities of underwater acoustic images, whose quality is usually affected by some undesired effects such as object blurring, speckle noise, and geometrical distortions degrading the edge detection. The voting approach is robust, with respect to these effects, so that good results are obtained even with images of very poor quality. The sequences of simulated and real acoustic images are presented in order to test the validity of the proposed method in terms of average estimation error and computational load 相似文献
2.
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
3.
Deep Sea AUV Navigation Using Multiple Acoustic Beacons 总被引：1，自引：1，他引：0
Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation. 相似文献
4.
针对热红外遥感图像由于低对比度、条带噪声、低空间分辨率等特点而导致的检测效果不佳问题,提出了一种近岸舰船目标尺度自适应选择分层多阈值检测方法。采用舰船模板图像尺度归一化高斯拉普拉斯函数取极大值准则进行尺度自适应选择,利用所选的高斯多尺度空间差分多阈值筛选进行近岸舰船检测,并根据不同类型舰船模板图像尺度和分块数选择对热红外图像舰船目标检测的影响进行验证实验。实验结果表明:所提方法能根据模板尺度特征滤除相似区域,通过设置合理尺度和阈值参数能实现有效检测,且具有一定的抗噪能力。 相似文献
5.
实现高精度的定位导航是深海采矿车完成海底工作任务的基础条件。在采矿车行进过程中,声呐设备生成的图像信息能够反映海底场景的变化,从而体现采矿车本身的运动,由此建立了一种声呐图像里程计,并将其与轮式里程计和USBL测量数据相结合提出了一种深海采矿车组合定位导航算法。首先对多波束前视声呐图像进行预处理,然后使用Canny算法进行特征检测并对特征点云进行配准,再结合声呐成像原理构建了声呐图像里程计运动模型,最后通过轮式里程计运动模型推导预测方程、声呐图像里程计运动模型和USBL测量数据推导更新方程,利用EKF（extended Kalman filter）算法实现基于多传感器融合的定位与姿态估计。海试数据验证了该组合定位算法能实现轮式里程计、声呐里程计和超短基线在速度、位置、艏向角估计、定位速率的精度互补,具有一定的有效性和精确性,该算法为深海采矿车的定位与导航算法研发提供了参考。 相似文献
6.
提出一种直接使用３Ｄ信息的目标识别方法。３Ｄ不变性矩可作为任意３Ｄ形状的表示特征且具有平移、旋转和尺度变化的不变性。人工神经网络的训练过程对应于主动式机器视觉的内部建模过程。该方法适应于３Ｄ主动式机器视觉的目标识别 相似文献
7.
水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术，二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法，航行器在水声信标测距覆盖范围内，利用航行过程中多次测距信息构建测距圆序列形成位置约束，基于航位推算导航信息，将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配，从而获得位置估计，通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强，仿真实验表明，该方法可以独立实现较高精度的定位。 相似文献
8.
Real-time video mosaicking of the ocean floor 总被引：2，自引：0，他引：2
An approach was developed for real-time creation of video mosaics of the ocean floor. The approach uses visual correspondence during both image acquisition and consolidation to insure that there are no gaps in the mosaic. The use of visual information for mosaic creation offers an accuracy previously unachievable in real time. A complete mosaicking approach was developed, including a technique for image registration and several strategies for image acquisition control. The approach was implemented and tested experimentally. Ocean-floor mosaics were created in real time using a remotely-operated vehicle. In addition, extensive mosaicking experiments were conducted in a test-tank environment using a semiautonomous underwater robot 相似文献
9.
In this paper, a hierarchical system, in which each level is composed by a neural-based classifier, is proposed to recognize objects in underwater images. The system has been designed to help an autonomous underwater vehicle in sea-bottom survey operations, like pipeline inspections. The input image is divided into square regions (macro-pixels) and a neural tree is used to classify each region into different object classes (pipeline, sea-bottom, or anodes). Each macro-pixel is then analyzed according to some geometric and environment constraints: macro-pixels with doubt classification are divided into four parts and re-classified. The process is iterated until the desired accuracy is reached. Experimental results, which have been performed on a large set of real underwater images acquired in different sea environments, demonstrate the robustness and the accuracy of the proposed system 相似文献
10.
A rapid real-time adjustment scheme is proposed for improving the precision of the conventional short-base line (SBL) positioning fix system used by submarines and other underwater vehicles. In the proposed approach, an initial position estimate is obtained by solving the conventional SBL tracking equations of the submarine given the assumptions of a constant speed of sound in water and a straight-line propagation path. In the first stage of the real-time adjustment procedure, this initial estimate is corrected using an iterative computation scheme based on a 3D geometry model. The improved position estimate is then used to compute a new, more accurate value of the speed of sound in water. Finally, in the second stage of the real-time adjustment procedure, the corrected speed of sound in water and the discrepancy between the original and corrected position estimates obtained in the first adjustment procedure are applied to update the coordinates of the submarine based on the second signal received from the pinger. The numerical results show that the proposed real-time adjustment system yields a significant improvement in the accuracy of the positioning fix estimates compared to those obtained from the conventional SBL method or the SBL method with the first adjustment procedure only. 相似文献
11.
文中关注水下潜航器导航定位时,电磁波传播途径中能量衰减、惯导系统长航时积累误差以及提高水下潜航器定位精度等问题。基于倒置的超短基线声学基阵,分析声波往返传播时间(RTT)、平面波近似方法和USBL导航解算方法及其坐标转换过程,结合INS误差方程,建立INS/USBL松组合模型。为进一步提高系统精度、动态性能和抗干扰性,考察USBL的原始斜距、斜距差以及声学基阵的空间分布信息,提出基于USBL原始输出信息的INS/USBL紧耦合组合导航方法。通过MATLAB仿真对导航算法进行验证,结果表明两种算法能充分抑制纯惯导误差随时间积累问题,且有效地估计出姿态、速度和位置误差角;其中紧耦合方法状态估计误差最小,导航参数精度相对松组合提高30%以上,对于提高水下载体导航定位精度、海洋探测具有重大意义。 相似文献
12.
A new method of positioning underwater static objects is presented based on Global Positioning System (GPS) acoustics. It adopts a model in which the ranging errors follow a quadratic relation with the travel time of acoustic signals. A least squares technique is used to estimate the effective sound speed. The precise location of an object can then be made. The simulation shows that the method is capable of determining the three-dimensional position with an accuracy of 5 cm in a water depth of 500 m. The operating time is respectively 5–10 minutes in 50–100 m depth and 20–30 minutes in 500 m depth. 相似文献
13.
海雾气象条件下船只高精度检测识别面临较大困难，传统的目标识别、定位方法效果差强人意。作者围绕海雾气象条件下不同类型船只的实时检测问题，提出一种基于YOLOv3深度学习的实时海上船只检测新思路。首先构建清晰图片和模糊图片（海雾、雨）的判别方法，实现图片清晰度分类处理；其次为提高海雾气象条件下海上船只的实时检测精度，消除海雾遮挡对目标识别的影响，运用暗通道先验去雾方法对含有海雾的图像实行去雾；最后基于YOLOv3深度学习算法对精细处理后的图像进行船只实时检测。实验结果表明该方法能够在海雾气象条件下高效、准确地检测到船只，对海上复杂环境条件下的船只实时检测研究具有一定的理论指导意义。 相似文献
14.
Daniel S. Le Leannec F. Roux C. Soliman B. Maillard E.P. 《Oceanic Engineering, IEEE Journal of》1998,23(3):245-259
This paper presents a method for the matching of underwater images acquired with acoustic sensors. As a final objective, the system aims at matching data from two-dimensional scenes. The proposed approach carries out a hypothetical reasoning based on objects, represented by shadows and echoes in the sonar images, and their available features. The problem of determining measures which are invariant to changes in sonar settings and noise characteristics is addressed by mapping robust features for sonar images to a qualitative representation. To cope with the viewpoint charging appearance, the method is based on the conservation of objects' relative position from one image to another. We attempt to match geometrical structures formed by the association of three objects. The hypothetical reasoning is conducted in a decision tree framework. A tree node is generated by two objects' association, each one belonging to a respective image. Hypotheses propagation consists of creating new nodes from neighboring associations. The matching solution is determined by the selection of the decision tree's longest branch. Thus, the association mechanism is a depth-first procedure. The proposed method has been applied to real high-resolution side-scan sonar images. The matching process has shown successful and promising results which have been further improved. In particular, the parceled shadows (during the segmentation procedure) problem has been tackled 相似文献
15.
针对海底声学探测仪器采集数据量大而存储容量有限、数据传输带宽不足的实际问题,基于Lempel-Ziv-Welch(LZW)无损压缩算法,研究海底声学探测数据的实时压缩方法,提高数据压缩效果、节省传输带宽。并在LZW无损压缩算法的基础上结合数据存储的特点对压缩结果进行内存重新分配,极大提高压缩比(压缩数据大小/原始数据大小)。利用海底地震仪(OBS)采集的原始声学探测数据进行测试验证,结果表明该方法对于OBS声学探测数据有很好的压缩比,可用于对OBS采集的声学探测数据进行压缩处理,对于海底探测仪器的研发有很好的指导意义。 相似文献
16.
海底石油管线铺设后可能多会出现不同程度的损伤、变形、冲刷、偏移、悬跨等情况,这通常是铺设过程中管线受到物理、化学、机械等因素的影响造成的。为避免作业风险和海洋环境污染,需要在管线铺设后对其铺设状态进行完工后调查,以便及时了解海底管线的实际情况,并根据调查结果采取相应的维护措施。本文根据管线后调查的工作需求,从声学探测技术的工作原理出发,研究并比较分析了4种声探测技术的优势与局限性,提出在海底管道检测时将各种探测手段配合使用,使各手段“取长补短”,可有效提高探测效率。并利用工程实例验证方法的有效性与可行性;在实例验证过程中,还明确给出了相关数据的处理分析方法,得出将多种声学探测设备得到的数据进行综合分析并相互校核,可有效提高测量数据精度。结果表明应用水声探测设备开展后调查的方法同时满足准确和高效率要求,可有效支撑海底管线铺设后状态评价工作。 相似文献
17.
Chunhua Yuan Azimi-Sadjadi M.R. Wilbur J. Dobeck G.J. 《Oceanic Engineering, IEEE Journal of》2000,25(1):192-205
In this paper, new pre- and post-processing schemes are developed to process shallow-water sonar data to improve the accuracy of target detection. A multichannel subband adaptive filtering is applied to preprocess the data in order to isolate the potential target returns from the acoustic backscattered signals and improve the signal-to-reverberation ratio. This is done by estimating the time delays associated with the reflections in different subbands. The preprocessed results are then beamformed to generate an image for each ping of the sonar. The testing results on both the simulated and real data revealed the efficiency of this scheme in time-delay estimation and its capability in removing most of the competing reverberations and noise. To improve detection rate while significantly minimizing the incident of false detections, a high-order correlation (HOC) method for postprocessing the beamformed images is then developed. This method determines the consistency in occurrence of the target returns in several consecutive pings. The application of the HOC process to the real beamformed sonar data showed the ability of this method for removing the clutter and at the same time boosting the target returns in several consecutive pings. The algorithm is simple, fast, and easy to implement 相似文献
18.
基于声信标信号特征的快速识别技术、远距离微弱信号的快速定位技术、空域时域组合的多目标分辨技术,研发了基于圆型基阵的水下声信标搜寻仪"天科寻海一号"。通过消声水池、海上现场等试验,对其各项指标和整体性能进行了测试。该设备探测距离达3 000 m、方向分辨力达0.5°,具备同时搜寻多个声信标的能力。通过实时交会定位方法,可对大面积海域进行快速搜索及准确定位,具有重要的工程应用价值。 相似文献
19.
随着对水下目标特性研究的深入和声学探测技术的发展,基于单模态的阵列式信息融合或基于空间信息的分布式信息融合的水下目标识别方法研究已有一定成果,但针对复杂海况导致单一物理场或单一融合层次的系统识别性能提高有限等方面影响的水下目标识别方法研究还有所不足,因此,开展基于多模态深度融合模型的水下目标识别方法研究可利用模态互补,共享信息而提升识别率。文中在国内外研究基础上,深入研究了基于到达时差法和多模态方法组合的检测方法,初步形成了基于水声环境空间中多模态深度融合模型的识别框架,开展了海洋中典型自然与人为事件的信号分析与特征提取,并在此基础上,设计新型基于海底基站的被动识别系统。该系统同步记录和由位置等组成的时间序列标记声、磁和压数据,可实现高精度、高分辨率的识别。本研究可满足未来海洋观测对高性能水下目标探测、定位和跟踪系统的迫切需要,为海洋安全监管、海洋突发事件应急响应等领域提供新的技术手段和科学参考。 相似文献
20.
本文结合二维流线可视化技术和中尺度涡旋识别技术，提出了3种中尺度涡旋时空连续可视化的方法:基于OW参数的涡旋可视化方法、基于栅格模板的涡旋可视化方法和基于矢量模板的涡旋可视化方法，这3种方法分别基于Okubo-Weiss算法、Faghmous的算法和Liu的算法来进行涡旋识别，同时将流场可视化的结果填充到涡旋内部，以获得更好的可视化效果。在可视化过程中本文引入了传输函数来对涡旋中的流线颜色和透明度进行实时交互，能够在控制界面上通过设置Key值点的颜色和位置来控制速度、涡度和OW参数等信息的显示效果。本文在性能和显示效果方面比较了3种方法的优劣。从性能上来讲，性能由高到低依次为:基于OW参数的涡旋可视化方法、基于栅格模板的涡旋可视化方法和基于矢量模板的涡旋可视化方法。从显示效果上来讲，基于OW参数的涡旋可视化方法在三者中最差，效果中有较多的杂乱的短线，同时涡旋边界较小，局限于涡旋核心区；基于栅格模板的涡旋可视化方法较第一种方法的显示效果有所提升，杂乱的短线较少，涡旋相对完整，但由于数据分辨率不够高的原因，在放大多倍后涡旋边界呈现锯齿状；基于矢量模板的涡旋可视化方法显示效果最好，涡旋完整、饱满。同时，因为首先进行了涡旋边界的重构，将涡旋边界矢量化，涡旋边界更加平滑。相对于传统长时间序列的涡旋可视化的方法而言，这3种方法提供了一个美观、动态和更富信息性的可视化方法，同时由于传输函数的加入，其可以成为科研人员研究涡旋的一个实用的工具。 相似文献