Unmanned ship water surface target detection, identification and positioning method based on monocular camera and lidar information fusion

• Main Authors: YUAN ZHIHAO, LIAO YULEI, ZHANG LEI, JIANG KUNYI, SU GUANGSHENG, LI YE, WANG BO, SU YUMIN, JIA ZHIHAO, ZHOU BIN, ZHANG WEI, FENG JIAXIANG, YANG SHIYUAN
• Format: Patent
• Language: Chinese; English
• Published: 08.03.2019
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention belongs to the field of intelligent unmanned intelligent ships, and relates to an unmanned ship water surface target detection, identification and positioning method based on monocular camera and lidar information fusion. The detection, identification and positioning of a water surface target by an unmanned ship are influenced by distances and the fluctuation of the target, so that alidar and a monocular camera are integrated to accurately detect, identify and position the target within a sensing range. According to the method, acquired water surface target images are adopted totrain a neural network-based target detection and recognition model; the lidar employs a conditional removal filter and Euclidean clustering to obtain the position of the water surface target in a world coordinate system; and finally, a camera image information and lidar information fusion method is designed, and therefore, the method is highly robust to uncertain factors. With the method adopted, the unmanned ship is cap