The invention discloses a zoom binocular vision-based ship target tracking method, and particularly relates to the technical field of binocular stereoscopic vision, a target detection model based on a YOLOv5 algorithm is adopted to carry out ship target detection, Mosaic data enhancement is used to expand a data set, and the generalization ability of the model in different scenes is improved; in the detection stage, an input image is preprocessed, and noise interference is removed; calibration of the camera and updating of calibration data are realized by using a calibration object arranged on the site; screening the most interested ship from the detected ships as a target, and tracking the target by adopting a DeepSort target tracking algorithm; calculating the rotation angle of the holder based on the position change amount of the target tracked by the DeepSort target tracking algorithm in the image, and changing the focal length based on the proportion of the target in the image, so that the target is always in the field of view and is kept clear; and calculating the size, the navigational speed and the tonnage of the target by using a binocular ranging principle.
本发明公开了一种变焦双目视觉的船舶目标跟踪方法,具体涉及双目立体视觉技术领域,采用基于YOLOv5算法的目标检测模型进行船舶目标检测,使用Mosaic数据增强对数据集扩展,提高模型在不同场景下的泛化能力;在检测阶段对输入图像进行预处理,去除噪声干扰;利用布设在现场的标定物实现对相机的标定以及标定数据的更新;从检测到的多个船舶中筛选出最感兴趣的作为目标,采用DeepSort目标跟踪算法对该目标进行追踪;基于DeepSort目标追踪算法追踪到的目标在图像中的位置改变量,计算云台转动角度,基于目标占图像的比例改变焦距,始终使目标在视野范围内并保持清晰;利用双目测距原理对目标进行尺寸、航速以及吨位计算。
Zoom binocular vision ship target tracking method
一种变焦双目视觉的船舶目标跟踪方法
20.06.2025
Patent
Elektronische Ressource
Chinesisch
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