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首页> 外文会议>ASME International Conference on Ocean, Offshore and Arctic Engineering >DEVELOPMENT OF AN IMAGE PROCESSING MODULE FOR AUTONOMOUS UNDERWATER VEHICLES THROUGH INTEGRATION OF OBJECT RECOGNITION WITH STEREOSCOPIC IMAGE RECONSTRUCTION
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DEVELOPMENT OF AN IMAGE PROCESSING MODULE FOR AUTONOMOUS UNDERWATER VEHICLES THROUGH INTEGRATION OF OBJECT RECOGNITION WITH STEREOSCOPIC IMAGE RECONSTRUCTION

机译：通过立体识别图像重建集成对象识别的水下自动车辆图像处理模块的开发

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This study investigated the development of visual recognition and stereoscopic imaging technology, applying them to the construction of an image processing system for Autonomous Underwater Vehicles (AUVs). For the proposed visual recognition technology, an optical flow algorithm was used to detect the linear features and movement speeds of dynamic images; the proposed stereoscopic imaging technique employed a Harris corner detector to estimate the distance of the target. A physical AUV was constructed with a wide-angle lens camera and a binocular vision device mounted on the bow to provide image input. Subsequently, a simulation environment was established in Simscape Multibody and used to control the post-driver system of the stern, which contained horizontal and vertical rudder planes as well as the propeller. Finally, the dynamic testing results were combined with a fuzzy controller to output the real-time responses of the vehicle regarding the angles, rates of the rudder planes, and the propeller revolution speeds at various distances.
机译：这项研究调查了视觉识别和立体成像技术的发展，并将其应用于自动水下航行器（AUV）的图像处理系统的构建。对于提出的视觉识别技术，使用光流算法检测动态图像的线性特征和运动速度。提出的立体成像技术采用了哈里斯角检测器来估计目标的距离。物理AUV由广角镜相机和安装在船首的双目视觉设备构成，以提供图像输入。随后，在Simscape Multibody中建立了一个模拟环境，并用于控制船尾的后驾驶员系统，该系统包含水平和垂直方向舵平面以及螺旋桨。最后，将动态测试结果与模糊控制器组合，以输出车辆在各种距离下的角度，舵面速率和螺旋桨转速的实时响应。

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