基于单目视觉的无人艇海面目标实时测距方法  

A real-time ranging method for USV sea surface targets based on monocular vision

作　　者：张发枝 何佳洲[1] 胡剑秋 李二磊 王景石 ZHANG Fazhi;HE Jiazhou;HU Jianqiu;LI Erlei;WANG Jingshi(Jiangsu Automation Research Institute,Lianyungang 222061,China)

机构地区：[1]江苏自动化研究所,江苏连云港222061

出　　处：《舰船科学技术》2024年第13期126-131,共6页Ship Science and Technology

基　　金：预研项目(JCKY2021206B015)。

摘　　要：针对无人艇海面航行场景中单目图像测距难的问题,本文采用Yolov8模型检测海面目标,设计基于类别先验划分的双模型测距算法。针对中小型海面目标测距引入目标画面偏航角修正和海天线修正,针对货船目标测距引入基于检测框高的回归策略;构建多场景海面目标测距数据集,对测距算法进行定量评估。实验结果表明,中小型船舶测距中,引入画面偏航角修正测距的相对误差均值减小3.53%,引入海天线优化测距的相对误差均值减小30.89%;货船目标测距中,拟合法测距误差收敛,在实船测试中基本满足无人艇多传感器感知融合的要求。Aiming at the problem of difficult ranging of monocular image in the navigation scene of unmanned ship on the sea surface,this paper adopts the Yolov8 model to detect the sea surface target,and designs the dual-model ranging algorithm based on the category a priori division.The target screen yaw angle correction and sea antenna correction are introduced for small and medium-sized surface target ranging,and the regression strategy based on the detection frame height is introduced for cargo ship target ranging.A multi-scene surface target ranging dataset is constructed to quantitatively evaluate the ranging algorithm.The experimental results show that,in the ranging of small and medium-sized ships,the mean relative error of ranging with the introduction of screen yaw angle correction is reduced by 3.53%,and the mean relative error of ranging with the introduction of sea antenna optimization is reduced by 30.89%.In the ranging of cargo ship targets,the proposed law ranging error converges,and it basically meets the requirements of multi-sensor perception fusion of unmanned ships in the real-vessel test.

关 键 词：无人艇 单目测距 海天线 海上测距 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]