基于全景视觉的无人船水面障碍物检测方法

doi:10.19678/j.issn.1000-3428.0067238

摘要/Abstract

摘要：

无人船航行时水面障碍物检测因视角不足，导致漏检或误检，同时为满足无人船安全正常作业的需求，提出基于全景视觉的无人船水面障碍物目标检测方法。与传统的单目和双目视觉相比，全景视觉具有水平方向大视场监控的优点。基于多目全景视觉系统获得待拼接图像，在加速稳健特征(SURF)算法的基础上进行图像配准，引入k维树来构建数据索引，实现搜索空间级分类并进行快速匹配。通过M估计样本一致算法对匹配点进行优化，剔除误匹配点。对于图像融合中重叠区域出现的拼接缝隙或重影问题，设计一种基于圆弧函数的加权融合算法。提出改进的水面障碍物目标检测模型DS-YOLOv5s，将拼接好的全景图像作为训练好的模型作为输入，从而检测目标障碍物。实验结果表明，改进后的SURF算法与SURF算法相比特征点的匹配正确率提高11.47个百分点，在匹配时间上比SURF、RANSAC算法缩短5.83 s，DS-YOLOv5s模型的mAP@0.5达到95.7%，检测速度为51帧/s，符合实时目标检测标准。

关键词: 全景视觉, 图像拼接, 无人船, 改进YOLOv5, 目标检测

Abstract:

During the navigation of an unmanned ship, an inadequate perspective may cause obstacles on the water-surface to be missed.To enable the safe and normal operation of unmanned ships, this study proposes a panoramic vision-based method for the detection of water-surface obstacles.Panoramic vision is employed because it has the advantage of horizontal large-field monitoring, in contrast to traditional monocular and binocular vision. In the proposed approach, a multi-camera panoramic vision system acquires an image to be stitched.The Speeded-Up Robust Feature(SURF) algorithm then performs image registration. A k-dimensional tree constructs a data index, facilitating search-space level classification and fast matching.The M-estimation-based sample consensus algorithm optimizes the matching points and eliminates the mismatched points.A specifically designed arc function-based weighted fusion algorithm stitches the gaps and overcomes ghosting in the overlapping areas during image fusion. Finally, this study proposes an improved water-surface obstacle target detection model DS-YOLOv5s. This model takes the stitched panoramic image as input to detect target obstacles. In experiment, the improved SURF algorithm improved the feature-point matching accuracy by 11.47 percentage points compared to the SURF algorithm, and shorten the matching time by 5.83 seconds compared to the SURF, RANSAC algorithm. The DS-YOLOv5s model mAP@0.5 reached 95.7%, with a detection speed of 51 frames/s, conforming to real-time object detection standards.

Key words: panoramic vision, image stitching, unmanned ship, improved YOLOv5, target detection

周金涛, 高迪驹, 刘志全. 基于全景视觉的无人船水面障碍物检测方法[J]. 计算机工程, 2024, 50(2): 113-121.

Jintao ZHOU, Diju GAO, Zhiquan LIU. Detection Method of Water-Surface Obstacles for Unmanned Ships Based on Panoramic Vision[J]. Computer Engineering, 2024, 50(2): 113-121.

https://www.ecice06.com/CN/Y2024/V50/I2/113

图/表 17

图1 基于圆弧函数加权融合的图像拼接算法示意图

Fig.1 Schematic diagram of image stitching algorithm based on arc function weighted fusion

图2 DS-YOLOv5s算法的总体框架

Fig.2 Overall framework of the DS-YOLOv5s algorithm

图3 深度可分离卷积过程

Fig.3 Process of depthwise separable convolution

图4 水面障碍物类别图

Fig.4 lmages of obstacles categories on the water-surface

图5 在各种扰动下的水面障碍物图像

Fig.5 Images of water-surface obstacles under various disturbances

图6 待配准原图

Fig.6 Original images to be matched

图7 不同配准算法的配准图

Fig.7 Registration images among different registration algorithms

图8 较高分辨率待拼接原图

Fig.8 Original images to be stitched in higher resolution

图9 融合前后的拼接图

Fig.9 Stitching images before and after fusion

图10 面向复杂场景的对比实验结果

Fig.10 Comparison experimental results for complex scenarios

图11 YOLOv5s模型改进前后的P-R曲线

Fig.11 P-R curves before and after the improvement of the YOLOv5s model

图12 参与测试的多目视觉图像

Fig.12 Multi-eye visual images of the participants in the test

图13 多目视觉全景拼接图

Fig.13 Multi-eye vision panorama stitching image

图14 障碍物检测图

Fig.14 Obstacle detection image

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