海洋观测浮标摇摆姿态视频测量方法及试验分析  

Attitude measurement and experimental analysis of marine submersible buoy based on video

作　　者：赵江涛[1] 顾季源 张东亮[1] 齐占辉[1] 李明兵[1] ZHAO Jiang-tao;GU Ji-yuan;ZHANG Dong-liang;QI Zhan-hui;LI Ming-bing(National Ocean Technology Center,Tianjin 300112,China)

机构地区：[1]国家海洋技术中心

出　　处：《电子设计工程》2019年第15期179-183,共5页Electronic Design Engineering

基　　金：国家自然科学基金(41406114);天津市自然基金(17JCYBJC16300);天津市科技计划项目(16YFZCGX00110);中心创新基金支持项目

摘　　要：海洋观测浮标是海洋业务化观测必不可少的观测系统和离岸海洋观测的主要设备。为探究风、浪、流等海洋环境要素对浮标摇摆姿态的影响,结合双目视觉原理及空间几何知识提出了一种浮标摇摆姿态测量方法。通过双目视觉系统获取浮标的运动图像,利用霍夫变换和随机抽样一致性算法精确提取左右图像平面中浮标直线特征,计算浮标直线特征三维空间直线方程及浮标摇摆姿态角。实验室及海上试验结果表明:该方法能有效地在真实海洋环境中提取浮标直线特征,浮标姿态测量平均绝对误差小于0.5度,方法简单、可靠,有较好的应用前景。Ocean observation buoy is the most important observation system and the main equipment for offshore observation. In order to investigate the influence of wind,wave and flow on the swing of buoy,a method for measuring the attitude of buoy was presented based on the principle of binocular vision and space geometry. The motion images of buoy were obtained by binocular vision system. Straight line features in the left and right image plane were extracted by using hough transformation and random sample consensus algorithm,the line equation and the swing angle of the buoy were obtained. The laboratory and the marine experimental results show that this method could extract the linear characteristics of buoy in ocean environment effectively;the mean absolute error of buoy attitude measurement is less than 0.5 degrees. This method is simple and reliable,has a good value for application.

关 键 词：双目视觉 图像处理 浮标运动 姿态测量 试验分析 

分 类 号：TN919.82[电子电信—通信与信息系统]