一种面向AUV水下对接的双目视觉测距方法  

A Ranging Method in AUV Underwater Docking by Binocular Vision

作　　者：施小成[1] 王晓娟[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《计算机测量与控制》2008年第10期1460-1462,1488,共4页Computer Measurement &Control

摘　　要：水下对接技术是AUV的研究前沿和关键技术;AUV要实现水下对接,就必须实时准确地获取相对于对接目标的距离信息;根据水下对接中成像的特点,提出了一种基于纹理控制的金字塔互相关双目视觉测距算法,在实验室模拟海洋环境中进行圆形对接目标的测距实验,结果表明该算法能够精确地提取对接目标并实时给出有效的距离信息;进一步通过实验定量地说明了本算法中各项技术对于提高实时性的贡献;上述实验初步证明了本算法对于AUV水下对接的适用性。Underwater docking technology plays an important role in the current research of AUV and its key technologies. To actualize the underwater docking, it is necessary for AUV to learn timely and properly the range information between the docking target and itself. According to the characteristics of imaging during underwater docking, a binocular-vision ranging algorithm was put forward. The algorithm uses texture-control-based correlation of pyramid images to obtain this range information. By the indoor experiment in a simulative underwater environment, it was indicated that this algorithm is effective to extract the docking target and can provide real-time range information with acceptable accuracy. Further experiments were done to quantificationally analyse the contribution made by the main technologies in this algorithm to the overall real--time performance. All the above experiments primarily proved that this algorithm is suitable for the application in AUV underwater docking.

关 键 词：AUV 水下对接 双目视觉 视觉导引 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]