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作 者:王嘉 关夏威 张昊[1] 付少波 张宇昂 宋清华 WANG Jia;GUAN Xiawei;ZHANG Hao;FU Shaobo;ZHANG Yuang;SONG Qinghua(Wuhan Second Ship Design and Research Institute,Wuhan 430205,China)
机构地区:[1]武汉第二船舶设计研究所,湖北武汉430205
出 处:《水下无人系统学报》2025年第1期92-98,共7页Journal of Unmanned Undersea Systems
基 金:湖北省青年拔尖人才计划项目资助。
摘 要:针对水下运动发光目标的视觉定位提出了一种结合背景建模的自适应阈值分割方法。首先基于高斯混合模型进行背景建模,粗略筛选出图像中具有动态特性的若干区域;然后在HSV色彩空间中对这些区域内像素的特征进行分析,以此判别区域内是否存在目标;得到包含有目标的区域后应用Otsu法计算区域内的分割阈值;最后,基于该阈值对包含目标区域进行二值化处理实现目标提取。该方法为缓解水下复杂场景中亮度变化和杂物干扰给视觉定位造成的影响,充分利用了目标的运动状态以及颜色、亮度属性,将背景建模和阈值分割相结合,提高了分割的精准度和稳定性。试验结果表明,该算法针对亮度变化、光晕模糊及气泡干扰等水下视觉定位中的常见问题具有较强的适应性,且不依赖于初始参数的选取,较为适合于工程应用。This paper presented an adaptive threshold-based segmentation method combined with background modeling forthe visual positioning of underwater moving luminous targets.Initially,background modeling was conducted based on theGaussian mixture model to screen out several dynamic regions in the image.Subsequently,the pixel features within theseregions were analyzed in the HSV color space to determine the presence of a target.After identifying the target-containingregions,Otsu’s method was applied to calculate the threshold for segmentation within these regions.Finally,binarization wasperformed on target-containing regions based on the calculated threshold,facilitating target extraction.The algorithm wasdesigned to alleviate the impact of brightness variations and clutter interference on visual positioning in complex underwaterenvironments.It fully utilized the target’s motion state,as well as its color and brightness,combining background modelingwith threshold-based segmentation to enhance the precision and stability of the segmentation.Experimental results indicatethat the algorithm demonstrates strong adaptability to common issues in underwater visual positioning,such as changes inbrightness,halo blur,and bubble interference.Furthermore,it does not rely on the selection of initial parameters,making itsuitable for engineering applications.
关 键 词:水下运动 发光目标 视觉定位 背景建模 阈值分割
分 类 号:TJ630.34[兵器科学与技术—武器系统与运用工程] U674[交通运输工程—船舶及航道工程]
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