Dynamic Locating And Tracking System Of Maritime Search And Rescue Target Based On Binocular Vision

In order to improve the ability of search and rescue under terrible sea conditions,more and more countries try to replace the traditional manual search and rescue boats with unmanned boats equipped with rescue devices,with operators monitoring and operating on the large-scale search and rescue mother ships.In order to further improve the efficiency of maritime search and rescue,it is necessary to build a search and rescue target dynamic positioning and tracking system to detect and track the possible tracking targets in real time,and then send the direction and distance to the unmanned boat for automatic navigation and rescue after manual confirmation.In order to solve the difficulties of small and long distance search and rescue targets,complex light conditions and wave motion in the process of maritime search and rescue,this paper designs and builds a dynamic positioning and tracking system of maritime search and rescue targets based on binocular vision,which realizes the functions of search and rescue target detection,search and rescue target tracking,binocular ranging and positioning,and preliminarily verifies its feasibility through experiments.In the aspect of target detection,this paper studies the problem of target detection in the remote small target scene.This paper introduces the methods of dynamic background modeling and HSV color recognition in the scene of small target detection,puts forward the background modeling method combining HSV color recognition and Canny edge detection,determines the sea background to reduce the scope of target search,improves the recognition degree by using the color of search and rescue target,reduces the failure of color recognition due to light conditions by using edge detection,which meets the requirements of the scene in this paper Target detection requirements.In the aspect of target tracking,this paper studies the problem of target tracking in severe sea conditions.In order to solve the problems such as large waves,possible wave occlusion of search and rescue targets,complex lighting conditions and so on,the effects of common target tracking algorithms are compared.Based on the advantages and disadvantages of each algorithm and the characteristics of the scene in this paper,an improved TLD tracking algorithm is proposed,which integrates the characteristics of color and gradient histogram,improves the tracking ability of the target in complex sea conditions,and verifies the actual tracking effect combined with the cloud platform control algorithm through the lake experiment.In the aspect of binocular ranging,the binocular ranging system with long baseline and double domes is studied.The range of ranging is improved by long baseline,and the camera angle is controlled by independent pan tilt to ensure that the target appears continuously in the public field of view.In this paper,a real-time external parameter calculation method is proposed in the independent double dome scene,which solves the problem of binocular external parameter calculation when the relative position is not fixed,and its correctness is verified by experiments.Finally,the effect of several matching algorithms is compared and the ranging error is analyzed.