Volume 15 Issue 5
. 
Turn off MathJax
Article Contents
Article Navigation >  Journal of Traffic and Transportation Engineering  > 2015  >  15(5): 91-100
Next Previous
LIU Chen-guang, CHU Xiu-min, XIE Shuo, WANG Le. Multi-target locating method of surface ship based on monocular vision[J]. Journal of Traffic and Transportation Engineering, 2015, 15(5): 91-100. doi: 10.19818/j.cnki.1671-1637.2015.05.012
Citation: LIU Chen-guang, CHU Xiu-min, XIE Shuo, WANG Le. Multi-target locating method of surface ship based on monocular vision[J]. Journal of Traffic and Transportation Engineering, 2015, 15(5): 91-100. doi: 10.19818/j.cnki.1671-1637.2015.05.012
shu

Multi-target locating method of surface ship based on monocular vision

doi: 10.19818/j.cnki.1671-1637.2015.05.012
  • 1.

    National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 2.

    School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 3.

    School of Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China

More Information
  • Author Bio:

    LIU Chenr guang(1988), male, doctoral student, + 86-27-86581899, liu_chenguang@126.com

    CHU Xiu-min(1969-), male, researcher, PhD, + 86-27-86581899, chuxm@whut.edu.cn

  • Received Date: 2015-05-21
  • Publish Date: 2015-10-25
    Abstract
  • Aiming at the multi-target real-time locating of surface ship, an algorithm for real-time locating and motion parameters calculating of ship was proposed.The proposed algorithm was realized by processing the images captured by monocular camera with fixed position and perspective. The captured images were preprocessed with Gaussian filter and distortion correction, and a multi-target recognition method was proposed based on ship color features, size characteristics, and kinematic characteristics(every target could be identified individually).A transformation model between image coordinate system and real coordinate system, and a computing model for ship speed, course and trajectory calculation were built.A real locating system was built in experimental pool, a real-time locating program was developed, and the locating precision and trajectory tracking performance were verified.Verification result indicates that in the circumstance with disturbances, the precise recognition of two ships can be realized by using proposed locating algorithm.The average locating errors in lateral and longitudinalorientation are 0.058 m and 0.209 mrespectively before amendment, 0.038 m and 0.124 m respectively after amendment.The update frequency of camera locating data is 8 Hz, which can meet the control requirements.The real-time position, speed and course of ship can be correctly calculated, and the trajectory is smooth without any abnormal location point.

     

    • FullText(HTML)
  • loading
    • References(23)
  • [1]
    CACCIA M, BIBULI M, BONO R, et al. Basic navigation, guidance and control of an unmanned surface vehicle[J]. Autonomous Robots, 2008, 25(4): 349-365. doi: 10.1007/s10514-008-9100-0
    [2]
    ZHOU Na. Research on camera location based on monocular vision[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2007. (in Chinese)
    [3]
    LIU Jiang, CAI Bai-gen, WANG Yun-peng. Cooperative vehicle positioning method based on GNSS/DSRC fusion[J]. Journal of Traffic and Transportation Engineering, 2014, 14(4): 116-126. (in Chinese) http://transport.chd.edu.cn/article/id/201404014
    [4]
    LI Ming-yue. The research of calibration and compensation methods for high precision strapdown inertial navigation system[D]. Harbin: Harbin Engineering University, 2012. (in Chinese)
    [5]
    MENG Hao, CHENG Kang. Object location technique for binocular stereo vision based on scale invariant feature transform feature points[J]. Journal of Harbin Engineering University, 2009, 30(6): 649-652, 675. (in Chinese) doi: 10.3969/j.issn.1006-7043.2009.06.011
    [6]
    CAO Feng-ping, WANG Rong-ben, ZHANG Liang-xiu. A three-dimensional localization algorithm of lunar rover based on binocular vision[J]. Journal of Transport Information and Safety, 2012, 30(4): 28-33. (in Chinese) doi: 10.3963/j.issn.1674-4861.2012.04.007
    [7]
    LI Rong-ming, LU Li-bin, JIN Guo-dong. Research overview of location method for monocular vision[J]. Modern Computer, 2011, 28(11): 9-12. (in Chinese) doi: 10.3969/j.issn.1007-1423-B.2011.11.003
    [8]
    LIU Hong-wei. Mobile robot object recognition and localization based on monocular vision[D]. Jinan: Shandong University, 2011. (in Chinese)
    [9]
    ZHANG Zhi-guo. Research on locating system based on monocular vision[D]. Wuhan: Huazhong University of Science and Technology, 2009. (in Chinese)
    [10]
    HUNTSBERGER T, AGHAZARIAN H, HOWARD A, et al. Stereo vision-based navigation for autonomous surface vessels[J]. Journal of Field Robotics, 2011, 28(1): 3-18. doi: 10.1002/rob.20380
    [11]
    MA Yue, HU Ying, BI Feng-long. Tracking and position study for unmanned semi-submersible vessel based on stereo vision[C]∥IEEE. 4th International Conference on Digital Manufacturing and Automation. New York: IEEE, 2013: 1618-1621.
    [12]
    ASHRAFIUON H, MUSKE K R, MCNINCH L C, et al. Sliding-mode tracking control of surface vessels[J]. IEEE Transactions on Industrial Electronics, 2008, 55(11): 4004-4012. doi: 10.1109/TIE.2008.2005933
    [13]
    WANG Jian, WANG Xiao-tong, XU Xiao-gang. Study of ship locating principle by measuring distance based on the monocular camera machine vision[J]. Navigation of China, 2005, 28(3): 8-10, 14. (in Chinese) doi: 10.3969/j.issn.1000-4653.2005.03.002
    [14]
    WANG Qiang-feng. Studying on the ship movement during ship-bridge collision with monocular vision measuring[D]. Ningbo: Ningbo University, 2012. (in Chinese)
    [15]
    LU Jian-guo, CAI A, LI Li-li. A detection-aided multi-target tracking algorithm[C]∥IEEE. 2010 International Conference on Machine Vision and Human-Machine Interface. New York: IEEE, 2010: 580-583.
    [16]
    HEATH K, GUIBAS L. Multi-person tracking from sparse 3D trajectories in a camera sensor network[C]∥IEEE. 2nd ACM/IEEE International Conference on Distributed Smart Cameras. New York: IEEE, 2008: 1-9.
    [17]
    LIANG Min. Study of multi-target tracking algorithm based on particle filter[D]. Xi'an: Xidian University, 2010. (in Chinese)
    [18]
    WANG Wen-yuan. Selecting the optimal Gaussian filtering scale via the SNR of image[J]. Journal of Electronics and Information Technology, 2009, 31(10): 2483-2487. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-DZYX200910039.htm
    [19]
    XIONG Xian-ming, REN Juan-juan. Research of corner detection algorithm in the black and white checkerboard[J]. Microcomputer and Its Applications, 2014, 33(9): 66-69. (in Chinese) doi: 10.3969/j.issn.1674-7720.2014.09.021
    [20]
    TIAN L F, SLAUGHTER D C. Environmentally adaptive segmentation algorithm for outdoor image segmentation[J]. Computers and Electronics in Agriculture, 1998, 21(3): 153-168. doi: 10.1016/S0168-1699(98)00037-4
    [21]
    LIU Ya-jing, YANG Fan, PU Zhao-bang. Research on segmentation of field weed image based on color feature[J]. Microcomputer Information, 2007, 23(18): 269-271. (in Chinese) doi: 10.3969/j.issn.1008-0570.2007.18.106
    [22]
    ZHANG Xiao-na, HE Ren, CHEN Shi-an, et al. Vehicle license plate location using active learning AdaBoost algorithm and color feature[J]. Journal of Traffic and Transportation Engineering, 2013, 13(1): 121-126. (in Chinese) http://transport.chd.edu.cn/article/id/201301018
    [23]
    ZHANG Wen-juan. Early warning system for ship navigation risk in bridge waterways[D]. Wuhan: Wuhan University of Technology, 2013. (in Chinese)
    • Relative Articles
    • Supplements(0)
    • Cited By

Catalog

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1070) PDF downloads(1387) Cited by()
    Related

    Copyright《Journal of Traffic and Transportation Engineering》编辑部陕ICP备05001904号-1

    Address ：Editorial Department of Journal of Traffic and Transportation Engineering, Chang 'an University, Middle Section of South Second Ring Road, Xi 'an, Shaanxi（710064） Tel：029-82334388 Email：jygc@chd.edu.cn

    All visit:Today's visit:

    Supported by: Beijing Renhe Information Technology Co. Ltd    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return