A real-time ranging method for USV sea surface targets based on monocular vision
Aiming at the problem of difficult ranging of monocular image in the navigation scene of unmanned ship on the sea surface,this paper adopts the Yolov8 model to detect the sea surface target,and designs the dual-model ranging al-gorithm based on the category a priori division.The target screen yaw angle correction and sea antenna correction are intro-duced for small and medium-sized surface target ranging,and the regression strategy based on the detection frame height is introduced for cargo ship target ranging.A multi-scene surface target ranging dataset is constructed to quantitatively evalu-ate the ranging algorithm.The experimental results show that,in the ranging of small and medium-sized ships,the mean rel-ative error of ranging with the introduction of screen yaw angle correction is reduced by 3.53％,and the mean relative error of ranging with the introduction of sea antenna optimization is reduced by 30.89％.In the ranging of cargo ship targets,the proposed law ranging error converges,and it basically meets the requirements of multi-sensor perception fusion of un-manned ships in the real-vessel test.
万方数据
维普
