光线自适应的水下管线识别与定位系统

本文论述了在水下环境下如何通过视觉识别管线并给以精确的定位．提出了水下视 觉系统的总体设计方案．在识别目标时，以目标的颜色为特征，并将颜色从RGB空间转换到H SI空间，使图像处理的速度和特征抽取的鲁棒性得到提高．由于水下环境光照变化剧烈，使 用模糊神经网络来动态调整特征颜色阈值．对水下环境中点和线的精确定位进行了详细的分 析，给出定位算法．最后的实验结果证明了算法的有效性．

ILLUMINATION ADAPTIVE RECOGNITION AND LOCATION SYSTEM FOR UNDERWATER PIPELINE

This paper discusses how to recognize and locate pipeline accurately by vision in underwater environment. An underwater vision system is presented. The object′s color is the feature when the object be recognized. And the color is transformed from RGB space to HSI space, which improves speed of image processing and robustness of feature extraction. Because the illumination of underwater environment changes tempestuously, fuzzy network is used to adjust threshold value of feature color dynamically. The paper analyzes location of point and line in underwater environment in detail, and offers an algorithm of location. Experiment results show that the method can achieve quite precise location effectiveness.