基于海天线标定的海上单目测距方法  

A Marine Monocular Ranging Method Based onSea-Sky Line Calibration

作　　者：张鹏[1,2] 黄亮 杨露菁[1] 文彬[2] ZHANG Peng;HUANG Liang;YANG Lujing;WEN Bin(Naval University of Engineering,Wuhan 430000,China;No.91431 Unit of PLA,Haikou 570000,China)

机构地区：[1]海军工程大学,武汉430000 [2]中国人民解放军91431部队,海口570000

出　　处：《电光与控制》2023年第9期36-41,73,共7页Electronics Optics & Control

基　　金：国家自然科学基金(61501486)。

摘　　要：为解决海上单目图像测距难的问题,提高对海上图像的信息挖掘程度,提出一种单目测距方法。在海天线检测和位姿解算单目测距技术的基础上,通过图像中的海天线对相机位姿进行标定,获取相机外参;再结合提前标定的相机内参,构建目标与相机在成像空间中的几何关系模型;考虑地球曲率影响,推导出了基于海天线标定的海上实时单目测距方法;最后利用蒙特卡罗法对测距模型进行仿真,分析了其误差特性。In order to reduce the difficulty in the ranging of monocular marine images and improve the degree of information mining of marine images,a monocular ranging method is proposed.Based on the sea-sky line detection and pose-calculation monocular ranging technology,the camera pose is calibrated by using the sea-sky line in the image,and the external parameters of the camera are obtained.In combination with the camera's internal parameters calibrated in advance,the model describing the geometric relationship between the target and the camera in the imaging space is constructed.Considering the influence of the Earth's curvature,a real-time monocular marine ranging method based on sea-sky line calibration is deduced.Finally,the Monte Carlo method is used to simulate the ranging model and analyze its error characteristics.

关 键 词：单目测距 海上测距 海天线 相机标定 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]