基于战场元宇宙的动态三维场景感知  

Dynamic 3D Scene Perception Based on Battlefield Metaverse

作　　者：王浩宇 龚光红 蔡继红 叶必鹏 周照方 梅铮 李妮[1] Wang Haoyu;Gong Guanghong;Cai Jihong;Ye Bipeng;Zhou Zhaofang;Mei Zheng;Li Ni(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;Beijing Simulation Center,Beijing 100854,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京仿真中心,北京100854

出　　处：《系统仿真学报》2023年第10期2262-2278,共17页Journal of System Simulation

摘　　要：信息化作战对战场的态势感知提出了更高的要求,利用无人智能体进行战场侦察并感知目标信息尤为重要。基于战场元宇宙目标数据与作战环境,面向复杂动态环境定位与目标识别的需求,提出并构建了动态三维场景感知系统,使用视觉和IMU融合传感器仿真数据作为输入,通过实例分割和稠密光流估计网络提取战场目标信息并作为场景先验,在SLAM和优化过程中同步完成无人智能体在战场中的位姿估计与对战场目标的跟踪。实验结果表明:系统能够在战场动态复杂环境下给出场景稀疏重建与无人智能体准确的定位,持续输出每一个战场目标类型、位置、速度等信息,表现出良好的精度与鲁棒性,为战场态势融合等其他模块提供技术支撑。Informatization combat needs higher requirements for battlefield situational awareness,and the use of unmanned intelligences to conduct battlefield reconnaissance and perceive target information is particularly important.Facing the needs of complex dynamic environment localization and target recognition,a dynamic 3D scene perception system is proposed and constructed based on battlefield meta-universe target data and operational environment,which uses vision and IMU fusion sensor simulation data as inputs,extracts battlefield target information through instance segmentation and dense optical flow estimation network and uses it as a scene prior,and synchronizes the position estimation of unmanned intelligences in the battlefield with the tracking of battlefield targets during SLAM and optimization process.The experimental results show that the system is able to provide the sparse reconstruction of the scene and accurate localization of the unmanned intelligent body under the dynamic and complex environment of the battlefield,and continuously outputs the information of each battlefield target such as type,position,and speed,which shows the good accuracy and robustness,and provides technical support for the battlefield situational fusion and other modules.

关 键 词：态势感知 动态场景 SLAM 实例分割 战场元宇宙 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]