【摘要】 针对自主水下航行器(AUV)自主回收过程中对回收装置的近距相对位置测量问题,提出了一种基于单目视觉的近距定位方法。该方法首先给出AUV与回收装置端面垂直时的单目定位方法,然后提出旋转定位法来解决AUV有俯仰和偏航时AUV与回收装置之间相对位置的精确计算问题,并进行了实验室试验研究,验证了该方法的有效性。更多还原

【Abstract】 To solve the problem of close relative position measurement of docking equipment in autonomous underwater vehicle(AUV) recovery process,a close positioning method based on monocular vision is presented.A monocular positioning method is given firstly when AUV(camera) is perpendicular to the dock plane,and when AUV(camera) is not perpendicular to the dock plane,a camera rotation positioning approach was put forward to solve the problem of positioning precisely.we got a good result in the experiment.更多还原