基于双目相机的船舶系泊运动感知算法研究  

Research on motion perception algorithm of ship mooring based on binocular camera

作　　者：杨笑歌 陈汉宝 王收军[1] 段自豪[2] YANG Xiaoge;CHEN Hanbao;WANG Shoujun;DUAN Zihao(National Experimental Teaching Demonstration Center for Mechatronics Engineering(Tianjin University of Technology),Tianjin 300384,China;Tianjin Research Institute for Water Transport Engineering,M.O.T.,Tianjin 300456,China)

机构地区：[1]机电工程国家级实验教学示范中心(天津理工大学),天津300384 [2]交通运输部天津水运工程科学研究所,天津300456

出　　处：《水道港口》2024年第5期685-691,共7页Journal of Waterway and Harbor

基　　金：国家重点研发计划项目(2022YFC3102300);中央级公益性科研院所基本科研业务费专项基金项目(TKS20220301,TKS20230103)。

摘　　要：针对船舶系泊时的运动感知问题,提出了一种基于双目相机的船舶系泊运动感知算法,实现了船舶系泊时的位姿检测。算法采用先识别后测量的感知策略。首先,使用Mask-R CNN神经网络获取船舶掩膜;之后,利用船舶掩膜、双目视差图和双目相机的内外参数计算得到船舶点云;最后,应用NDT-ICP算法对船舶点云进行配准,得到位姿变换矩阵,从而计算出船舶系泊时的位姿。与实测值对比显示,该算法位移RPD最低为2.21 mm,旋转RPD最低为2.93°,位移RMSE最大为1.135 mm,旋转RMSE最大为3.809°,检测视频帧率达到8 FPS,算法检测能力较好,对船舶进港系泊活动具有重要意义。To address the issue of motion perception during ship mooring,a binocular camera-based ship mooring motion perception algorithm was proposed,achieving pose detection during ship mooring.The algorithm adopted a perception strategy of recognition followed by measurement.First,the Mask-R CNN neural network was used to obtain the ship′s mask;then,based on the ship′s mask,binocular disparity map,and the internal and external parameters of the binocular camera,the ship′s point cloud was calculated.Finally,the NDT-ICP algorithm was applied to register the ship′s point cloud,yielding the pose transformation matrix,which was then used to compute the ship′s pose during mooring.Compared with the measured values,the algorithm achieves a minimum displacement RPD of 2.21 mm,a minimum rotation RPD of 2.93°,a maximum displacement RMSE of 1.135 mm,and a maximum rotation RMSE of 3.809°,with a detection video frame rate of 8 FPS.Therefore,the algorithm is approved to demonstrate good detection capability and hold significant value for ship mooring activities.

关 键 词：双目视觉 SGBM算法 Mask R-CNN算法 立体匹配 

分 类 号：U65[交通运输工程—港口、海岸及近海工程] TV143[交通运输工程—船舶与海洋工程]