Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Underwater polarization vision laser fusion positioning system and underwater sinking pipe butt joint method
The invention discloses an underwater polarization vision laser fusion positioning system and an underwater sinking pipe butt joint method in the technical field of underwater environment perception. The method comprises the following steps: acquiring a coordinate # imgabs0 # of a feature point P of a preset target image in a binocular camera coordinate system by using a polarization binocular camera unit; calculating a rotation matrix R and a translation matrix T by using a joint calibration method, and converting an original point of a laser ranging coordinate system to a coordinate # imgabs1 # in a binocular camera coordinate system according to the two matrixes; controlling the two-dimensional scanning galvanometer to deflect by a preset angle according to the feature point P and the coordinate Q; determining a coordinate # imgabs2 # of the feature point P in a laser ranging coordinate system by using a laser ranging unit, and converting the coordinate # imgabs3 # into a coordinate # imgabs4 # in a binocular camera coordinate system; and correcting the coordinate of the coordinate # imgabs6 # in the Z-axis direction by using the coordinate # imgabs5 #, and retaining the coordinate # imgabs8 # of the coordinate # imgabs7 # in the X-axis direction and the Y-axis direction to obtain a fused and corrected coordinate # imgabs9 #. The method can achieve the precise positioning of a target under an unfavorable water body.
本发明公开了水下环境感知技术领域的一种水下偏振视觉激光融合定位系统及水下沉管对接方法，所述方法包括：利用偏振双目相机单元获取预设靶标图像的特征点P在双目相机坐标系中的坐标#imgabs0#；利用联合标定方法计算旋转矩阵R和平移矩阵T，并根据两个矩阵将激光测距坐标系的原点转换到双目相机坐标系中的坐标#imgabs1#；根据特征点P和坐标Q控制二维扫描振镜偏转预设角度；利用激光测距单元确定所述特征点P在激光测距坐标系中的坐标#imgabs2#，并将所述坐标#imgabs3#转换到所述双目相机坐标系中的坐标#imgabs4#；利用所述坐标#imgabs5#修正所述坐标#imgabs6#在Z轴方向的坐标，并保留所述坐标#imgabs7#在X、Y轴方向的坐标#imgabs8#，得到融合修正后的坐标#imgabs9#。本发明能够实现不利水体下的目标精确定位。
Underwater polarization vision laser fusion positioning system and underwater sinking pipe butt joint method
The invention discloses an underwater polarization vision laser fusion positioning system and an underwater sinking pipe butt joint method in the technical field of underwater environment perception. The method comprises the following steps: acquiring a coordinate # imgabs0 # of a feature point P of a preset target image in a binocular camera coordinate system by using a polarization binocular camera unit; calculating a rotation matrix R and a translation matrix T by using a joint calibration method, and converting an original point of a laser ranging coordinate system to a coordinate # imgabs1 # in a binocular camera coordinate system according to the two matrixes; controlling the two-dimensional scanning galvanometer to deflect by a preset angle according to the feature point P and the coordinate Q; determining a coordinate # imgabs2 # of the feature point P in a laser ranging coordinate system by using a laser ranging unit, and converting the coordinate # imgabs3 # into a coordinate # imgabs4 # in a binocular camera coordinate system; and correcting the coordinate of the coordinate # imgabs6 # in the Z-axis direction by using the coordinate # imgabs5 #, and retaining the coordinate # imgabs8 # of the coordinate # imgabs7 # in the X-axis direction and the Y-axis direction to obtain a fused and corrected coordinate # imgabs9 #. The method can achieve the precise positioning of a target under an unfavorable water body.
本发明公开了水下环境感知技术领域的一种水下偏振视觉激光融合定位系统及水下沉管对接方法，所述方法包括：利用偏振双目相机单元获取预设靶标图像的特征点P在双目相机坐标系中的坐标#imgabs0#；利用联合标定方法计算旋转矩阵R和平移矩阵T，并根据两个矩阵将激光测距坐标系的原点转换到双目相机坐标系中的坐标#imgabs1#；根据特征点P和坐标Q控制二维扫描振镜偏转预设角度；利用激光测距单元确定所述特征点P在激光测距坐标系中的坐标#imgabs2#，并将所述坐标#imgabs3#转换到所述双目相机坐标系中的坐标#imgabs4#；利用所述坐标#imgabs5#修正所述坐标#imgabs6#在Z轴方向的坐标，并保留所述坐标#imgabs7#在X、Y轴方向的坐标#imgabs8#，得到融合修正后的坐标#imgabs9#。本发明能够实现不利水体下的目标精确定位。
Underwater polarization vision laser fusion positioning system and underwater sinking pipe butt joint method
一种水下偏振视觉激光融合定位系统及水下沉管对接方法
SHENG XINGLIN (Autor:in) / HUO GUANYING (Autor:in) / SHI SHUXIAN (Autor:in) / LUO YUWEI (Autor:in) / ZHANG YANXIAN (Autor:in)
27.09.2024
Patent
Elektronische Ressource
Chinesisch
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