胡震. 基于自主作业的AUV视觉系统[J]. 机器人, 2001, 23(6): 535-540.
引用本文: 胡震. 基于自主作业的AUV视觉系统[J]. 机器人, 2001, 23(6): 535-540.
HU Zhen. AUV OPTICAL VISION SYSTEM BASED ON AUTONOMOUS TASK[J]. ROBOT, 2001, 23(6): 535-540.
Citation: HU Zhen. AUV OPTICAL VISION SYSTEM BASED ON AUTONOMOUS TASK[J]. ROBOT, 2001, 23(6): 535-540.

基于自主作业的AUV视觉系统

AUV OPTICAL VISION SYSTEM BASED ON AUTONOMOUS TASK

  • 摘要: 自主作业能力是智能水下机器人(Autonomous Underwater Vehicle,AUV)的发展方向,本文介绍了用于AUV作业的一个视觉系统,描述了系统的硬件结构和软件体系,论述了水下图像处理方法,详细描述了用于目标识别的神经网络的结构、建模及神经网络识别方法,给出了神经网络特征向量和识别结果.

     

    Abstract: The optical vision is very important for AUV(Autonomous Underwater Vehicle) to navigate, avoid obstacle and operate autonomously. This paper presents an AUV optical vision system, and presents the hardware frame and the software structure of vision system. This paper discusses the method of underwater image processing. The ANN(Artificial Neural Network) is applied to AUV optical vision. This paper presents the characteristics of objects, describes the structure and modeling of ANN. This paper presents characteristic vector of ANN and the results of recognition.

     

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