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Review on light vision detection of surface obstacles for USV

机译：USV表面障碍物的光视图综述

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摘要

Unmanned surface vehicle (USV) is a kind of intelligent ship which can sense the external environment in real time and make correct evaluation and response to the external environment. In practical application, the detection of surface obstacles is an important prerequisite for autonomous navigation and operation of unmanned vessels. At present, there are many kinds of technologies for water surface obstacle detection. The detection technology based on optical vision has the advantages of simple structure, low cost, easy access to data and large amount of information. Compared with other perception systems, it has its unique advantages. In this paper, according to the actual process of USV water surface obstacle light vision detection, the framework of USV light vision detection system is described in general. Then according to the detection steps, the water surface image acquisition, water surface image preprocessing and water surface obstacle detection are introduced in turn. Finally, the future research direction of USV water surface obstacle light vision detection is prospected.
机译：无人面的表面车辆（USV）是一种智能船，可以实时感测外部环境，并对外部环境进行正确的评估和响应。在实际应用中，表面障碍物的检测是自主导航和无人血管运行的重要前提。目前，水面障碍物检测有多种技术。基于光学视觉的检测技术具有结构简单，成本低，可轻松访问数据以及大量信息的优点。与其他感知系统相比，它具有其独特的优势。本文根据USV水表面障碍物光视图检测的实际过程，一般描述了USV光视图检测系统的框架。然后根据检测步骤，依次引入水面图像采集，水表面图像预处理和水表面障碍物检测。最后，未来的USV水面障碍光视图检测的研究方向被展望。

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