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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
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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
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城市作为人类栖息的主要场所,其含有丰富P源的城市绿地土壤受到人为活动的强烈影响·为了探讨亚热带不同类型城市绿地土壤全P含量的分布特征,于2010年9--12月对福州市典型城市片林与草坪土壤全P垂直分布特征进行研究,结果表明：研究区绿地40cm以上土壤全P含量平均值为0．61g·kg^-1,其中城市片林和草坪土壤全P含量平均值分别为0．64g·kg^-1和0.58g·kg^-1;人为活动直接导致不同类型城市绿地土壤全P垂直分布规律不同：不同植被类型对城市土壤全P含量影响不同．土壤的人为扰动和植被类型及其生长年龄是影响亚热带城市绿地土壤全P垂直分布规律的主要因素． 相似文献
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细根的净生长与周转在城市绿地地下碳过程中具有至关重要的影响。本研究采用微根管法与土钻法相结合,对福建省福州市市区内城市绿地细根生长死亡及其净生产量的季节动态进行研究。结果表明:1)城市片林与城市草坪的细根生长死亡的季节动态明显,且季节动态模式相似。2)气温和降水因子对于城市片林和草坪的细根生长量及死亡量的影响不同。细根的死亡除了与气温、降水等因子有关之外,还与其他因子密切联系。3)城市片林与城市草坪的细根净生产量的季节动态有所不同,且片林的细根年净生产量大于草坪。4)城市片林和草坪的细根年净生产量小于天然森林和天然草原,这可能与人为管理措施的影响以及不同研究方法的偏差有关。 相似文献
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细根在城市绿地地下碳过程中扮演着重要的角色．本研究采用土芯法和WinRHIZO根系分析软件对福建省福州市区内城市绿地的细根现存生物量进行研究。结果表明：1）城市片林的细根生物量在1．15～2．60t／hm^2之间,低于草坪的细根生物量（1．34～4．45t／hm^2）,总体上也低于多数亚热带天然森林的细根生物量．2）细根垂直分布总体规律是随深度的增加而减少,城市草坪上层细根生物量与下层细根生物量差异大于城市片林．城市草坪土壤中79％的细根集中于表层土壤（0—10cm）,10～40cm土层中的细根生物量仅占20％,而各城市片林中仅有50％左右的细根集中于土壤表层0～10cm,10～30cm深度的土层中的细根生物量占30％,40～60cm的土层都仍有20％的细根存在．3）采用细根长度、直径建立双因素模型,对城市绿地细根生物量均有较好的拟合结果,但城市片林的模型拟合效果（R^2〉0．85）优于城市草坪（R^2为0．59～0．79）．鉴于草坪具有可观的细根生物量,其对城市土壤地下碳过程有着不容忽视的作用,因此今后还需进一步引入其他变量优化其细根拟合模型． 相似文献
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细根在城市绿地地下碳过程中扮演着重要的角色．本研究采用土芯法和WinRHIZO根系分析软件对福建省福州市区内城市绿地的细根现存生物量进行研究。结果表明：1）城市片林的细根生物量在1．15～2．60t／hm^2之间,低于草坪的细根生物量（1．34～4．45t／hm^2）,总体上也低于多数亚热带天然森林的细根生物量．2）细... 相似文献
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城市作为人类栖息的主要场所,其含有丰富P源的城市绿地土壤受到人为活动的强烈影响·为了探讨亚热带不同类型城市绿地土壤全P含量的分布特征,于2010年9--12月对福州市典型城市片林与草坪土壤全P垂直分布特征进行研究,结果表明：研究区绿地40cm以上土壤全P含量平均值为0．61g·kg^-1,其中城市片林和草坪土壤全P含量... 相似文献
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