[1]邓冬进,葛泉波,戴跃伟.低光照环境下基于定制椭圆的无人船姿态视觉测量[J].智能系统学报,2025,20(2):486-494.[doi:10.11992/tis.202403018]
DENG Dongjin,GE Quanbo,DAI Yuewei.Visual measurement of unmanned ship attitude based on custom elliptical in a low-light environment[J].CAAI Transactions on Intelligent Systems,2025,20(2):486-494.[doi:10.11992/tis.202403018]
点击复制
DENG Dongjin,GE Quanbo,DAI Yuewei.Visual measurement of unmanned ship attitude based on custom elliptical in a low-light environment[J].CAAI Transactions on Intelligent Systems,2025,20(2):486-494.[doi:10.11992/tis.202403018]
低光照环境下基于定制椭圆的无人船姿态视觉测量
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
20
期数:
2025年第2期
页码:
486-494
栏目:
人工智能院长论坛
出版日期:
2025-03-05
- Title:
- Visual measurement of unmanned ship attitude based on custom elliptical in a low-light environment
- Keywords:
- threshold segmentation; arc-to-chord ratio; feature mapping; ambiguity; eight-neighborhood tracking; posture vision; elliptical plane method; fast ellipse detection
- 分类号:
- TP30
- 摘要:
- 针对低光照条件下图像对比度低和噪声增多导致单目视觉姿态测量不准确的问题，提出基于快速椭圆检测的无人船姿态估计方法。首先，通过自适应颜色阈值分割技术与颜色和对比度增强技术相结合来提升边缘信息的获取精确度。其次，设计八邻域跟踪与弧弦比方法去除低光照图像噪声引起的伪弧，并结合改进的圆弧特征映射技术进一步区分伪弧段，以减少参数拟合的计算负担。最后，利用椭圆平面法向量和矩形法向量的平行性消除椭圆姿态角计算的二义性，以提高算法在低光照环境下的鲁棒性。实验表明，提出的无人船姿态估计算法具有更快的检测速度，同时保持更高的估计精度。
- Abstract:
- This study proposes an attitude estimation method for unmanned ships using fast ellipse detection to address inaccurate monocular visual attitude measurement caused by low image contrast and increased noise under low-light conditions. First, it employs an adaptive color threshold segmentation algorithm with color and contrast enhancement to optimize edge detection. Second, eight-neighborhood tracking combined with the arc aspect ratio method is designed to eliminate the pseudo-arc caused by noise in low-illumination images. The improved arc feature mapping technology is also used to further distinguish the real elliptical arc segment from the pseudo-arc segment generated by noise, which significantly reduces the computational burden of parameter fitting. Finally, a geometric constraint strategy is established to eradicate the ambiguity of elliptic attitude angle calculation using the parallelism of the elliptic plane normal vector and the rectangular normal vector, which improves the robustness of the algorithm in low-light environments. Experiments indicate that the proposed algorithm offers faster detection speed and higher accuracy for unmanned ship attitude estimation.
- 参考文献/References:
-
[1] 袁泽慧, 陈国栋, 李世中. 四旋翼在移动平台视觉导引自主降落研究综述[J]. 兵器装备工程学报, 2023, 44(4): 60-67.
YUAN Zehui, CHEN Guodong, LI Shizhong. Review on quadrotor vision-guided autonomous landing on amoving platform[J]. Journal of ordnance equipment engineering, 2023, 44(4): 60-67.
[2] 徐小斌, 段海滨, 曾志刚. 仿猛禽视觉多分辨率的海上无人艇协同跟踪[J]. 智能系统学报, 2023, 18(4): 867-877.
XU Xiaobin, DUAN Haibin, ZENG Zhigang. Cooperative tracking of unmanned surface vessels at sea inspired by a multi-resolution mechanism of raptor vision[J]. CAAI transactions on intelligent systems, 2023, 18(4): 867-877.
[3] WANG Qianqian, ZHANG Jiachen, YU Jiangfan, et al. Untethered small-scale machines for microrobotic manipulation: from individual and multiple to collective machines[J]. ACS nano, 2023, 17(14): 13081-13109.
[4] 齐艳霞, 庄羽, 李岳伦, 等. 无人机视觉导航相对位置解算及二义性优化方法[J]. 导航与控制, 2023, 22(2): 68-75.
QI Yanxia, ZHUANG Yu, LI Yuelun, et al. Relative position calculation and ambiguity optimizationmethod for UAV visual navigation[J]. Navigation and control, 2023, 22(2): 68-75.
[5] JIANG Z, JOVAN F, MORADI P, et al. A multirobot system for autonomous deployment and recovery of a blade crawler for operations and maintenance of offshore wind turbine blades[J]. Journal of field robotics, 2023, 40(1): 73-93.
[6] XU Yahao, LI Jingtai, WU Bi, et al. Cooperative landing on mobile platform for multiple unmanned aerial vehicles via reinforcement learning[J]. Journal of aerospace engineering, 2024, 37(1): 04023095.
[7] SHAKIRZYANOV R M, SHLEYMOVICH M P, NOVIKOVA S V. Method for unmanned vehicles automatic positioning based on signal radially symmetric markers recognition of underwater targets[J]. Automation and remote control, 2023, 84(7): 734-752.
[8] LIU Qi, TANG Xiyu, HUO Ju. Attitude measurement of ultraclose-range spacecraft based on improved YOLOv5s and adaptive Hough circle extraction[J]. Applied optics, 2024, 63(5): 1364-1376.
[9] LIN C C, TUMMALA R L. Mobile robot navigation using artificial landmarks[J]. Journal of robotic systems, 1997, 14(2): 93-106.
[10] CHEN Haifeng, ZHUANG Jinlei, LIU Bingyou, et al. Camera calibration method based on circular array calibration board[J]. Systems science & control engineering, 2023, 11(1): 223356.
[11] 林婷婷, 韩亚丽, 樊森. 结合形态学的Roberts边缘检测方法研究[J]. 建筑工程技术与设计, 2017(32): 2428-2428.
LIN Tingting, HAN Yali, FAN Sen. Architectural engineering technology and design, 2017(32): 2428-2428.
[12] TAHER S M, GHANIM M, DER C S. Applied improved canny edge detection for diagnosis medical images of human brain tumors[J]. Al-mustansiriyah journal of science, 2023, 34(4): 66-74.
[13] 崔文静, 李帅, 彭天文, 等. 改进蜜獾算法优化OTSU的图像分割研究[J]. 计算机测量与控制, 2023, 31(9): 260-266.
CUI Wenjing, LI Shuai, PENG Tianwen, et al. Image segmentation on improved HBA to optimize OTSU[J]. Computer measurement & control, 2023, 31(9): 260-266.
[14] 董慧芬, 严力, 孙浩远. 基于单目视觉的机械臂灯具清洗定位系统[J]. 电子测量与仪器学报, 2022, 36(2): 114-121.
DONG Huifen, YAN Li, SUN Haoyuan. Manipulator positioning system of lamps cleaning based on monocular vision[J]. Journal of electronic measurement and instrument, 2022, 36(2): 114-121.
[15] JIA Qi, FAN Xin, YANG Yang, et al. Characteristic mapping for ellipse detection acceleration[J]. IEEE transactions on image processing, 2023, 32: 2568-2579.
[16] CHERNOV N, LESORT C. Least squares fitting of circles[J]. Journal of mathematical imaging and vision, 2005, 23(3): 239-252.
[17] BALLARD D H. Generalizing the Hough transform to detect arbitrary shapes[J]. Pattern recognition, 1981, 13(2): 111-122.
[18] P?TR?UCEAN V, GURDJOS P, GROMPONE VON GIOI R. Joint a contrario ellipse and line detection[J]. IEEE transactions on pattern analysis and machine intelligence, 2017, 39(4): 788-802.
[19] FORNACIARI M, PRATI A, CUCCHIARA R. A fast and effective ellipse detector for embedded vision applications[J]. Pattern recognition, 2014, 47(11): 3693-3708.
[20] MENG Cai, LI Zhaoxi, BAI Xiangzhi, et al. Arc adjacency matrix-based fast ellipse detection[J]. IEEE transactions on image processing, 2020.
[21] 陈至坤, 胡连军, 王一, 等. 单圆姿态识别二义性的矩形约束消除[J]. 激光与光电子学进展, 2017, 54(10): 351-356.
CHEN Zhikun, HU Lianjun, WANG Yi, et al. Solution of duality in pose estimation of a single circle using rectangle constrain[J]. Laser & optoelectronics progress, 2017, 54(10): 351-356.
[22] XU Wenfu, XUE Qiang, LIU Houde, et al. A pose measurement method of a non-cooperative GEO spacecraft based on stereo vision[C]//2012 12th International Conference on Control Automation Robotics & Vision. Guangzhou: IEEE, 2012: 966-971.
[23] LONG Chenrong, HU Qinglei. Monocular-vision-based relative pose estimation of noncooperative spacecraft using multicircular features[J]. IEEE/ASME transactions on mechatronics, 2022, 27(6): 5403-5414.
[24] WANG Zepeng, CHEN Derong, GONG Jiulu. Pose error analysis method based on a single circular feature[J]. Pattern recognition, 2022, 129: 108726.
[25] ASWAD M F, RUSMIN P H, FATIMAH R N. Marker-based detection and pose estimation of custom pallet using camera and laser rangefinder[C]//2023 International Seminar on Intelligent Technology and Its Applications. Surabaya: IEEE, 2023: 186-191.
[26] STUCKEY H, ESCAMILLA L, GARCIA CARRILLO L R, et al. Real-time optical localization and tracking of UAV using ellipse detection[J]. IEEE embedded systems letters, 2024, 16(1): 1-4.
[27] 钟春来, 杨洋, 曹立佳, 等. 基于视觉的无人机自主着陆研究综述[J]. 航空兵器, 2023, 30(5): 104-114.
ZHONG Chunlai, YANG Yang, CAO Lijia, et al. A review of vision-based autonomous UAV landing research[J]. Aero weaponry, 2023, 30(5): 104-114.
[28] 康馨匀. 面向智能网联汽车的雨天交通标志检测与识别系统研究[D]. 长春: 吉林大学, 2020.
KANG Xinyun. Research on detection and recognition system of rainy traffic signs for intelligent networked vehicles[D]. Changchun: Jilin University, 2020.
[29] 朱齐丹, 李小铜, 郑天昊. 舰载机位姿实时视觉测量算法研究[J]. 智能系统学报, 2021, 16(6): 1045-1055.
ZHU Qidan, LI Xiaotong, ZHENG Tianhao. Research on real-time vision measurement algorithm of shipborne aircraft pose[J]. CAAI transactions on intelligent systems, 2021, 16(6): 1045-1055.
[30] 徐超, 平雪良. 基于改进随机Hough变换的直线检测算法[J]. 激光与光电子学进展, 2019, 56(5): 051001.
XU Chao, PING Xueliang. Line detection algorithm based on improved random Hough transformation[J]. Laser & optoelectronics progress, 2019, 56(5): 051001.
[31] 王志敏. 基于弧段提取的椭圆检测算法研究[D]. 上海: 东华大学, 2021.
WANG Zhimin. Research on ellipse detection algorithm based on arc segment extraction[D]. Shanghai: Donghua University, 2021.
[32] 朱森荣, 刘杰徽. 基于最小二乘法椭圆拟合的改进型快速算法[J]. 舰船电子工程, 2022, 42(1): 33-35.
ZHU Senrong, LIU Jiehui. Improved fast algorithm for elliptic fitting based on least square method[J]. Ship electronic engineering, 2022, 42(1): 33-35.
[33] LUO Hengliang, YANG Yi, TONG Bei, et al. Traffic sign recognition using a multi-task convolutional neural network[J]. IEEE transactions on intelligent transportation systems, 2018, 19(4): 1100-1111.
[34] 王斌. 自然环境下道路交通标志的检测与识别[D]. 济南: 山东大学, 2017.
WANG Bin. Detection and recognition of road traffic signs in natural environment[D]. Jinan: Shandong University, 2017.
[35] Beijing Jiaotong University. Traffic sign recogntion database[EB/OL]. (2024-3-11)[2025-01-10]. https://nlpr.ia.ac.cn/pal/trafficdata/recognition.html.
- 相似文献/References:
-
[1]丁爱玲,杨康,齐怀超,等.单边侧阴影特征的车辆阴影去除[J].智能系统学报,2015,10(2):281.[doi:10.3969/j.issn.1673-4785.201310020]
DING Ailing,YANG Kang,QI Huaichao,et al.Vehicle shadow removal based on the characteristics of the single side shadow[J].CAAI Transactions on Intelligent Systems,2015,10():281.[doi:10.3969/j.issn.1673-4785.201310020]
[2]贾鹤鸣,彭晓旭,邢致恺,等.改进萤火虫优化算法的Renyi熵污油图像分割[J].智能系统学报,2020,15(2):367.[doi:10.11992/tis.201809002]
JIA Heming,PENG Xiaoxu,XING Zhikai,et al.Renyi entropy based on improved firefly optimization algorithm for image segmentation of waste oil[J].CAAI Transactions on Intelligent Systems,2020,15():367.[doi:10.11992/tis.201809002]
[3]杨达,狄岚,赵树志,等.基于结构相似性与模板校正的织物瑕疵检测方法[J].智能系统学报,2020,15(3):475.[doi:10.11992/tis.201810011]
YANG Da,DI Lan,ZHAO Shuzhi,et al.Fabric defect detection based on structural similarity and template correction[J].CAAI Transactions on Intelligent Systems,2020,15():475.[doi:10.11992/tis.201810011]
备注/Memo
收稿日期:2024-3-11。
基金项目:国家自然科学基金项目(62033010); 江苏高校“青蓝工程”项目(R2023Q07).
作者简介:邓冬进，硕士研究生，主要研究方向为无人系统与位姿测量。E-mail：2398036390@qq.com;葛泉波，教授，博士生导师，中国人工智能学会自主无人系统专业委员会副主任委员，中国自动化学会青年工作委员会副主任委员，中国自动化学会人工智能与机器人教育专业委员会副秘书长。主要研究方向为自主智能无人系统、智能感知与学习控制。主持国家自然科学基金项目4项(其中1项为重点项目)。获得2019中国自动化学会科技进步一等奖、中国自动化学会科技进步二等奖、中国指挥与控制学会科学技术奖二等奖等奖项。发表学术论文100余篇。E-mail：geqb@nuist.edu.cn;戴跃伟，二级教授，博士生导师，中国气象服务协会副会长、中国指挥控制学会海上指控专业委员会副主任委员。主要研究方向为自动测控系统、装备信息化，网络及多媒体信息安全。主持完成60余项科研与开发项目，获发明专利授权20余项，获国家教学成果奖2项、省部级科技奖励9项。发表学术论文150余篇。E-mail：dyw@nuist.edu.cn。
通讯作者:葛泉波. E-mail：geqb@nuist.edu.cn
更新日期/Last Update:
2025-03-05