基于自适应K均值聚类和霍夫变换的船舶干舷视觉检测  

Ship freeboard visual detection based on adaptive K-means clustering and Hough transform

作　　者：姜苗苗 史国友[1,2] 许拴梅 江行 张恒 JIANG Miaomiao;SHI Guoyou;XU Shuanmei;JIANG Xing;ZHANG Heng(Navigation College,Dalian Maritime University,Dalian 116026,Liaoning,China;.Key Laboratory of Navigation Safety Guarantee of Liaoning Province,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026 [2]大连海事大学辽宁省航海安全保障重点实验室,辽宁大连116026

出　　处：《上海海事大学学报》2021年第2期34-39,共6页Journal of Shanghai Maritime University

基　　金：国家自然科学基金(51579025);中央高校基本科研业务费专项资金(3132020134,3132020139)。

摘　　要：针对内河船舶监管过程中对船舶干舷的测量还需人工巡航,增加了海事部门管理成本问题,提出一种不借助船舶水尺标志检测船舶干舷的方法。对采集的图像进行中值滤波预处理,去除孤立点、降低噪声敏感性;考虑图像颜色特性,应用自适应K均值聚类算法识别船舶区域;联合Canny边缘检测和霍夫直线检测的方法,标记船舶吃水线和甲板边线,并利用数学形态学方法提高检测准确性;基于标定相机和双目测距原理建立图像坐标与世界坐标转换关系,找到甲板中间位置,取其与水面的距离作为船舶实际干舷值。用相机拍摄内河船舶进行检测,结果表明,该方法可以对内河船舶的吃水线和船舷线进行检测并计算干舷值,用于判断船舶是否超载并及时发出预警,满足海事部门的监管需求。In view of the problem that the measurement of ship freeboard needs manual cruise in the process of inland river ship supervision,which increases the management cost of maritime departments,a method of detecting ship freeboard without the aid of ship water gauge marks is put forward.The collected image is preprocessed by the median filter to remove isolated points and reduce noise sensitivity;considering the image color characteristic,the adaptive K-means clustering algorithm is adopted to identify the ship area;the Canny edge detection and Hough line detection are combined to mark the waterline and deck edge of the ship,and the mathematical morphology method is used to improve the detection accuracy.The transformation relationship between the image coordinate and the world coordinate is established based on the calibration camera and the principle of binocular ranging to find the middle position of the deck,and the distance between the middle position of the deck and the water surface is taken as the actual freeboard value of the ship.Using the cameras to shoot inland ships for inspection,the results show that this method can detect the waterline and the side line of an inland ship and calculate the freeboard value,which can be used to judge whether a ship is overloaded and give early warning in time,and meets the supervision needs of maritime departments.

关 键 词：船舶干舷 自适应K均值聚类 CANNY边缘检测 霍夫变换 

分 类 号：U698.3[交通运输工程—港口、海岸及近海工程] TP391.4[交通运输工程—船舶与海洋工程]