一种利用天水线感知无人水面艇运行环境的方法  

Acquiring Environmental Condition for Unmanned Surface Vehicle Using Skyline Information

作　　者：熊亚洲[1] 王建华[2] 

机构地区：[1]上海电机学院电气学院,上海201306 [2]上海海事大学科学研究院,上海201306

出　　处：《上海电机学院学报》2015年第4期238-243,共6页Journal of Shanghai Dianji University

基　　金：上海市自然科学基金项目资助(10ZR1413600)

摘　　要：无人水面艇(USV)能够在危险环境下进行水面环境监测,通过视觉系统感知水面环境。利用Radon算法检测USV拍摄得到的水面图像中天水线参数,以此来判定波浪的运动状况,并分析天水线参数与波浪的关系。实验表明,该方法能够实时、较精确地检测天水线的斜率与截距的变化,通过分析这两个参数来判定USV的运动状态,为USV获取水面环境提供了一种新的方法;在不同的具有天水线的水面波浪环境中该方法同样适用。Unmanned surface vehicle（USV）acquires the surface environment with a visual system,and can provide a safe approach to monitor the environment on water surface under dangerous conditions.This paper presents a method of wave condition detection from sky-water line images taken by a camera fixed on an USV.The wave movement condition is estimated by detecting sky-water line parameters in sky-water line images of the water surface scene based on Radon transform and relationship between the sky-water line parameters and waves.Experiments show that the method can detect variation of sky-water linesslope,intercept accurately in time,and reflect unmanned surface vehicle motion state.These provide a new procedure for the USV to obtain water surface conditions.Performance of the method under different wave conditions is discussed,and the results validate the method.

关 键 词：无人水面艇 波浪环境 RADON变换 天水线图像 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]