基于图像处理的海上船只姿态测量方法  

Method for Measuring the Attitude of Ships at Sea Based on Image Processing

作　　者：闫威 郑智辉 郭宸瑞 王硕 董昊天 YAN Wei;ZHENG Zhihu;GUO Chenrui;WANG Shuo;DONG Haotian(Beijing Automatic and Control Institute,Beijing 100854,China)

机构地区：[1]北京航天自动控制研究所,北京100854

出　　处：《遥测遥控》2025年第2期116-123,共8页Journal of Telemetry,Tracking and Command

摘　　要：船只在海面上航行时,由于船只自身的运动、风力和海浪对船只运动的影响,船只的姿态是实时变化的,要在飞机上实时、准确测量出船只的姿态是很困难的。针对上述问题,设计了一种融合传统的模板匹配方法和深度学习方法的姿态估计方法,深度学习方法提高了姿态估计的准确性、鲁棒性和环境适应性,结合基于轮廓特征的模板匹配方法提高了姿态估计的实时性。首先采用目标船只的三维模型,渲染出船只的多姿态图像,通过实例分割算法建立船只姿态模板库。然后采集目标船只的可见光图像,通过目标检测、实例分割算法获得船只匹配图像,将船只匹配图像与船只姿态模板库中的图像进行匹配,匹配成功的船只姿态模板图像对应的姿态即为船只的姿态。通过仿真验证,三维姿态估计精度可达到1°。When a ship is sailing on the sea,the attitude of the ship changes in real-time due to the influence of the ship's own movement,wind,and waves.And it is difficult to accurately measure the ship's attitude in real-time from an aircraft.In order to solve the above problems,a pose-estimation method integrating the traditional template-matching method and the deep-learning method was designed.The deep-learning method improves the accuracy,robustness,and environmental adaptability of pose estimation,while the real-time performance of pose estimation is enhanced by combining it with the template-matching method based on contour features.Firstly,the three-dimensional model of the target ship was used to render the multi-pose images of the ship,and the ship attitude template library was established through the instance segmentation algorithm.Then,the visible-light images of the target ship were collected.The ship-matching images were obtained through the target-detection and instance-segmentation algorithms.These ship-matching images were matched with the images in the ship-attitude template database,and the attitude corresponding to the successfully-matched ship-attitude template image was the attitude of the ship.Through simulation verification,the accuracy of 3D attitude estimation could reach 1°.

关 键 词：三维建模 实例分割 模板匹配 三维姿态 

分 类 号：TP751[自动化与计算机技术—检测技术与自动化装置]