摘要
为了探究基于图像声呐的里程计实现方法,文章借鉴了基于光学图像的里程计方法,将光学的线性投影模型改进成为更精确的非线性“投影”模型,使其更适合应用于声呐图像的情况。文章提出了从声呐图像到特征检测、特征匹配、运动估计并最终得到声呐里程计的实现思路。针对尺度不变特征匹配问题,结合声呐图像分辨力低且信噪比低的特点,提出了更稳健的匹配方法,有效地降低了特征点异常匹配出现的频率,通过半物理仿真实验验证了使用文中方法可以有效地得到声呐运动轨迹,为基于图像声呐的里程计研究提供了参考。
In order to explore the odometer implementation method based on image sonar,the odometer method based on optical images is taken as a reference in this paper.On this basis,the original optical linear projection model is improved into a more accurate nonlinear"projection"model,making it more suitable for sonar images.The idea of realizing sonar odometer is proposed from sonar image to feature detection,feature matching,motion estimation and finally getting sonar odometer.For the problem of scale invariant feature matching,combined with the characteristics of low sonar image resolution and low signal to noise ratio,a more robust matching method is proposed,which effectively reduces the occurrence frequency of abnormal matching of feature points.Semi-physical simulation experiments verify that the sonar motion trajectory can be effectively obtained by this method,which provides a reference for the study of odometer based on image sonar.
作者
黄杰
周天
朱建军
徐超
于晓阳
张博鸣
HUANG Jie;ZHOU Tian;ZHU Jianjun;XU Chao;YU Xiaoyang;ZHANG Boming(Acoustic Science and Technology Laboratory,Harbin Engineering University,Harbin 150001,Heilongjiang,China;Key Laboratory of Marine Information Acquisition and Security(Harbin Engineering University),Ministry of Industry and Information Technology,Harbin,Harbin 150001,Heilongjiang,China;College of Underwater Acoustic Engineering,Harbin Engineering University,Harbin 150001,Heilongjiang,China;Sanya Harbin Engineering University Nanhai Innovation and Development Base,Sanya 572000,Hainan,China)
出处
《声学技术》
CSCD
北大核心
2024年第5期647-652,共6页
Technical Acoustics
基金
国家重点研发计划项目(2022YFB3206900:2022YFB3206902)
国家自然科学基金(42176188,42176192)
海南省自然科学基金(421CXTD442)。
关键词
里程计
图像声呐
特征匹配
尺度不变特征变换
半物理仿真
odometer
image sonar
feature matching
scale invariant feature transform
semi-physical simulation
