基于视觉的导管架入水角估算方法

导管架的入水角对于导管架的滑移入水是一个非常重要的参数.根据海上导管架入水实践,提出一种基于单照相机图像序列的导管架入水角估算方法.估算导管架入水角时,依据导管架上表面的单应矩阵H计算出上表面对应的消影线,然后根据多个单应矩阵计算绝对二次曲线的图像,最后由导管架上表面的消影线、绝对二次曲线的图像以及图像中的海天分隔线估算出导管架的入水角.在模拟实验中对测量误差进行了简要分析,图像实验和真实应用表明该方法是可行的.

A Vision Based Approach for the Jacket Launching Angle Estimation

In this paper,a approach is proposed for estimating jacket launching angle. The launching angle is the included angle between the jacket's bottom line and sea,a very important parameter for the launching. First,the approach computes the homography and the vanishing line of the up-surface on the jacket via the feature points in the up-surface. Then,the image of the absolute conic is computed by those homographies computed at different launching instants. At last,the launching angle is derived from the vanish...