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基于OpenCV的水下機器人單目定位技術(shù)研究與仿真
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(中國船舶科學(xué)研究中心 深海載人裝備國家重點(diǎn)實(shí)驗室,江蘇 無(wú)錫 214082)[HJ1.5mm]

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韓 沖(1988-),男,江蘇徐州人,碩士,工程師,主要從事圖像識別、計算機視覺(jué)方向的研究。 [FQ)]

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Research and Simulation of Underwater Vehicle Monocular Positioning Technology Based on OpenCV
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(State Key Laboratory of Deep-sea Manned Vehicles, China Ship Scientific Research Center, Wuxi 214082, China)

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    摘要:

    針對水下機器人自主回收對接時(shí)的定位問(wèn)題,提出了一種基于OpenCV的單目定位技術(shù)研究與仿真方法;首先確定回收裝置在回收側的光源標記點(diǎn)坐標信息;然后借助OpenCV算法庫,通過(guò)對水下機器人自帶攝像機的標定,得出反應攝像機固有信息的內參數,通過(guò)攝像機對回收裝置光源標記點(diǎn)的識別,得出光源標記點(diǎn)在圖像上的像素坐標,結合其世界坐標,得出反映回收裝置在攝像機坐標系下位置和姿態(tài)信息關(guān)系的平移向量和旋轉向量,進(jìn)而確定水下機器人在回收裝置坐標系下的位置和姿態(tài)信息;最后運用CATIA軟件對攝像機拍攝模型進(jìn)行建模和仿真,結果表明,所提方法不僅能快速地獲得水下機器人的位置和姿態(tài)信息,而且定位精度高,滿(mǎn)足水下機器人在自主回收對接時(shí)的設計要求。

    Abstract:

    Focused on obtaining the position and attitude information for automation recovery of underwater vehicle, a research and simulation method of monocular positioning technology based on OpenCV was proposed. Firstly, the light source tag coordinate information for the recovery side of the recovery unit was determined;Then, with the help of OpenCV library, the intrinsic parameters of the camera's inherent information were obtained by calibrating the camera of the underwater vehicle. Through the recognition of the recovery markers, the translation and rotation vector which reacted position and attitude relationship of the reclaimer in the camera coordinate system were obtained. Then the position and attitude of the underwater vehicle in the world coordinate system of the reclaimer were determined. Finally, the camera shooting model was modeled and simulated by CATIA, the experimental results demonstrate that the method can obtain the position and attitude information of underwater vehicle quickly and accurately, and the positioning accuracy is high,which meets the design requirements of autonomous unterwater vehicle for recovery and docking.

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韓沖,蘇濤,謝基榕.基于OpenCV的水下機器人單目定位技術(shù)研究與仿真計算機測量與控制[J].,2017,25(12):219-223.

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歷史
  • 收稿日期:2017-05-16
  • 最后修改日期:2017-06-07
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  • 在線(xiàn)發(fā)布日期: 2018-01-04
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