基于线结构光的水下自主作业系统目标识别与定位方法研究

项目名称： 基于线结构光的水下自主作业系统目标识别与定位方法研究

项目编号： No.51509229

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 其他

项目作者： 迟书凯

作者单位： 中国海洋大学

项目金额： 22万元

中文摘要： 水下自主作业系统能够在没有连续人为干预的情况下依靠反馈信息修改和完成连续的作业行动，对于水下交互作业的工作范围和能力的扩展都具有重要的现实意义，是水下技术装备发展的一个新方向和一种新形式。因此，对于其作业目标的准确可靠识别和定位是一项非常重要的工作，而这方面的研究才刚刚起步，还缺少一种有效且适用范围广的自主识别和定位方法。本研究提出基于水下线结构光技术，利用二维图像特征匹配识别作业目标，提取目标图像坐标，结合三维点云识别算法完成水下目标自主识别与定位的新思路。拟开展水下线结构光自扫描测量系统的标定方法研究、基于图像识别的三维点云信息提取方法研究、规则与不规则形状目标三维定位方法研究，最后开展实验验证。本项目研究可为水下作业目标的识别和定位提供理论基础和技术支持。作为水下自主作业的一项关键技术，该研究将为水下技术装备发展做出有益贡献。

中文关键词： 线结构光；水下自主作业系统；目标识别；目标定位

英文摘要： Underwater autonomous manipulation system is able to modify and complete continuous work according to feedback information without continuous human intervention. It is important and practical for the extension of the scope and expansion of the capacity of underwater interactive work and has been a new direction and a new form of the development of underwater technology and equipment. Therefore, the accurate recognition and positioning of its work target is important while research on this field is still at infancy. There is not an autonomous recognition and positioning method that is effective and can be widely used. In This study,combining with three-dimensional points cloud identification technology, a new idea of the recognition and positioning of underwater objects based on underwater linear structured light technology is carried out. the feature matching of two-dimensional images is used to recognize working target, and the coordinates of target image will be got. A research on the calibration method of underwater linear structured light auto-scanning measuring system, a research on the three-dimensional points cloud information getting method based on image recognition as well as a research on a three-dimensional positioning method of the regular and irregular shaped target will be carried out, and finally there will be experiments. This study could provide theoretic and technical support to the recognition and positioning of underwater objects. As a key technology of autonomous underwater manipulation, this study will make a good contribution to the development of the underwater technology and equipment.

英文关键词： linear structured light;underwater autonomous manipulation systems;target recognition;target positioning