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首页> 外文期刊>Electronics Letters >Passive target tracking of marine traffic ships using onboard monocular camera for unmanned surface vessel
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Passive target tracking of marine traffic ships using onboard monocular camera for unmanned surface vessel

机译：使用机载单目摄像头对无人水面舰艇进行海上交通船舶的被动目标跟踪

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摘要

Enhancing the performance of passive target tracking and trajectory estimation of marine traffic ships is focused using a monocular camera mounted on an unmanned surface vessel. To accurately estimate the trajectory of a target traffic ship, the relative bearing and range information between the observing ship and the target ship is required. Monocular vision provides bearing information with reasonable accuracy but with no explicit range information. The relative range information can be extracted from the bearing changes induced by the relative ship motion in the framework of bearings-only tracking (BOT). BOT can be effective in crossing situations with large bearing angle changes. However, it often fails in head-on or overtaking situations due to small bearing angle changes and the resulting low observability of the tracking filter. To deal with the lack of observability, the vertical pixel distance between the horizon and the target ship in the image is used, which improves the overall target tracking performance. The feasibility and performance of the proposed tracking approach were validated through field experiments at sea.
机译：使用安装在无人水面舰艇上的单眼相机，可以提高海上交通舰船的被动目标跟踪和轨迹估计的性能。为了准确地估计目标交通船的轨迹，需要观察船与目标船之间的相对方位和距离信息。单眼视觉提供了具有合理准确性的方位信息，但没有明确的范围信息。可以在仅轴承跟踪（BOT）的框架中从由相对船舶运动引起的轴承变化中提取相对范围信息。 BOT在轴承角度变化较大的交叉情况下可能有效。但是，由于方位角变化小以及跟踪滤波器的可观察性低，在迎面或超车的情况下，它通常会失败。为了解决缺乏可观察性的问题，使用了地平线和图像中目标船之间的垂直像素距离，从而提高了整体目标跟踪性能。通过海上野外实验验证了所提跟踪方法的可行性和性能。

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