Underwater robot cable three-dimensional shape estimation method

• Main Authors: CHEN WEI, YIN YILIN, GUO TIEZHENG, ZHENG YIFENG, WANG JIE, XU XIN, JIN JUN, GAO TIANYU, YANG GANG, HE CHENYU, CHEN GUOJUN, HAO XIAO
• Format: Patent
• Language: Chinese; English
• Published: 04.06.2021
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention discloses an underwater robot cable three-dimensional shape estimation method which is characterized by comprising the following steps: collecting an underwater robot cable picture to obtain a cable segmentation map; using a catenary model to obtain a projection equation of a catenary in the cable segmentation map based on the cable segmentation map; and based on the projection equation of the catenary in the image and the detection points in the cable segmentation image, obtaining three-dimensional shape parameters of the cable through a least square fitting method, and further estimating the three-dimensional shape of the cable. The three-dimensional shape of the underwater robot cable can be estimated in real time, and the accuracy is high. 本发明公开了一种水下机器人电缆三维形状估计方法，其特征在于：包括步骤：获取水下机器人电缆图片，得到电缆分割图；基于电缆分割图使用悬链线模型得到电缆分割图中悬链线的投影方程；基于所述图像中悬链线的投影方程和电缆分割图中的检测点，通过最小二乘拟合方法得到电缆三维形状参数，进而估计电缆三维形状。本发明能够实时估计水下机器人电缆三维形状并且准确度高。