CN109831655B - Ship environment sensing and early warning system based on multi-camera data fusion - Google Patents
Ship environment sensing and early warning system based on multi-camera data fusion Download PDFInfo
- Publication number
- CN109831655B CN109831655B CN201910217354.4A CN201910217354A CN109831655B CN 109831655 B CN109831655 B CN 109831655B CN 201910217354 A CN201910217354 A CN 201910217354A CN 109831655 B CN109831655 B CN 109831655B
- Authority
- CN
- China
- Prior art keywords
- early warning
- ship
- information
- video
- submodule
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000004927 fusion Effects 0.000 title claims abstract description 48
- 238000012545 processing Methods 0.000 claims abstract description 71
- 238000012544 monitoring process Methods 0.000 claims abstract description 49
- 230000008447 perception Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 42
- 230000010365 information processing Effects 0.000 claims description 22
- 230000007613 environmental effect Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 10
- 238000013135 deep learning Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 238000013500 data storage Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000007499 fusion processing Methods 0.000 claims description 3
- 230000010485 coping Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 8
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000012706 support-vector machine Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Landscapes
- Alarm Systems (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a ship environment sensing and early warning system based on multi-camera data fusion. The invention relates to a ship environment perception and early warning system based on multi-camera data fusion, which is characterized by comprising the following components: the system comprises a plurality of video analysis processing modules, a data center module and a ship monitoring and early warning service module based on multi-camera data fusion. The invention has the beneficial effects that: the system can effectively identify multi-scale targets, can monitor the surrounding conditions of the ship body in an all-around and multi-angle real-time manner, can also send out proper early warning information, and provides reference information and running coping strategies for drivers on the ship or serves as a supporting system of an unmanned ship.
Description
Technical Field
The invention relates to the field of ships, in particular to a ship environment sensing and early warning system based on multi-camera data fusion.
Background
With the continuous progress and development of the ship automation technology, the ship manufacturing industry has great changes, the automation degree of a ship system is higher and higher, the application of an unmanned engine room system is wider and wider, and the large amount of integrated systems with high technical content are applied, so that each system of the ship is more efficient, the unmanned degree is higher and higher, and meanwhile, higher requirements are provided for the safe driving of the ship and the intelligentization of the ship driving.
The ship monitoring and early warning system mainly realizes the global perception and monitoring of the surrounding environment where the ship is located, carries out reasonable early warning according to monitoring information, and is an important component for ensuring the safe and efficient operation of the ship.
The traditional technology has the following technical problems:
1. missing inspection problem of remote microminiature ship
The identification of the traffic target has higher requirements on the scale transformation of the target, the identification limit of the tiny target limits the limit of the early warning distance, and the tiny target is the key embodiment of the safety performance in a ship monitoring and early warning system.
The current ship identification has the problem of missing detection on remote tiny ships, the training sample and the training mode of the information processing module have great influence on the problem, and in addition, the suggested region position can not be accurately determined and the depth characteristic loss is also an influence factor.
2. Dead angle problem of ship monitoring system
With the development of water transportation, ships develop rapidly in a large-scale direction, the requirements on the comprehensiveness of the monitoring system are further improved, and the conventional ship monitoring system cannot meet all-dimensional monitoring requirements generally and has monitoring dead angles.
3. Early warning target identification and ranging problem
The existing ship monitoring and early warning system has incomplete target identification capability and inaccurate target perception, such as inaccurate distance measurement of early warning targets. The distance measurement is a vital technology in a ship monitoring and early warning system, and the judgment of a processor of an unmanned ship or the judgment of a common ship driver is greatly influenced by the distance of an early warning target.
At present, most of distance measurement technologies applied in a ship early warning system are active sensing technologies such as ultrasonic waves, infrared rays and lasers. The propagation of the ultrasonic waves is greatly influenced by environmental factors, such as atmospheric pressure, wind speed, temperature and the like, so that the precision is low. Compared with sound, the propagation of light, which is a physical quantity, is much more stable, so that infrared and laser are very suitable for complex and variable environments, and have good anti-interference capability.
4. The problem of poor real-time multi-target processing capability of the existing system
The existing image processing for ship target identification mostly adopts template matching, artificial feature extraction and combination of support vector machines and subsequent development of R-CNN and R-CNN. The template matching and the target recognition of the support vector machine have good recognition effect on objects with small contour change and have low accuracy on objects with large size and shape change, such as ships. And the R-CNN algorithm based on deep learning is slow in speed and difficult to achieve the real-time processing speed required by ship early warning.
5. The marine environment is complicated, and the alarm system in the prior art has the possibility of false alarm.
Disclosure of Invention
The invention aims to provide a ship environment sensing and early warning system based on multi-camera data fusion, which can effectively identify multi-scale targets and monitor the surrounding conditions of a ship body in real time in an all-around and multi-angle manner, and can also send out proper early warning information to provide reference information and a driving coping strategy for drivers on a ship or serve as a support system of an unmanned ship.
In order to solve the technical problem, the invention provides a ship environment sensing and early warning system based on multi-camera data fusion, which comprises: the system comprises a plurality of video analysis processing modules, a data center module and a ship monitoring and early warning service module based on multi-camera data fusion;
the video analysis processing module comprises a video acquisition sub-module, an information processing sub-module, a wireless and wired communication sub-module and an alarm sub-module; the signal processing submodule performs target recognition on the video image acquired by the video acquisition submodule by adopting a deep learning algorithm, so that the environmental perception and monitoring of the ship and the periphery are realized, including the recognition of various targets in a visible range and the detection of target distance; the information processing submodule carries out target identification, distance detection and early warning processing according to the tracking information of the deep learning algorithm, namely, when an early warning target is found or an early warning distance is reached, the information processing submodule informs an alarm subsystem to carry out sound-light alarm in real time, and simultaneously sends video information and early warning information to a data center in a wired or wireless communication mode through a wired communication interface or a wireless communication submodule;
the data center module mainly comprises a data storage subsystem and a communication submodule, supports two modes of wired communication and wireless communication, and is used for communicating with a plurality of video analysis processing modules and a ship monitoring and early warning service module based on multi-camera data fusion; the data center module receives the video information and the early warning information collected by each video analysis processing module through the communication sub-module, stores the video information and the early warning information into the data storage subsystem, and simultaneously forwards the video information and the early warning information to the ship monitoring and early warning service module based on multi-camera data fusion, so that the video information and the early warning information of the video analysis processing modules are subjected to data fusion, and ship environment perception and early warning processing based on multi-camera data fusion is performed.
In one embodiment, the double-camera video analysis processing module is applied to the front end and the rear end of a ship, the two cameras are configured in a binocular vision mode, three-dimensional reconstruction of a front channel visual scene and a rear channel visual scene is achieved, and meanwhile accurate distance measurement is conducted after the center of mass is determined.
In one embodiment, the single-camera video analysis processing module is applied to the front side, the side and the back side of a ship, so that the omnibearing video real-time monitoring of the system is realized.
In one embodiment, the ship monitoring and early warning service module based on multi-camera data fusion comprises an information processing sub-module, a communication sub-module, an information configuration module, a video display sub-module, an alarm module and the like, wherein the communication sub-module can support communication with a data center in a wired or wireless communication mode and receive video data and early warning information of each video analysis processing module forwarded by the data center module; the information processing submodule realizes data fusion processing of the acquired video information acquired by each video analysis processing module, realizes three-dimensional reconstruction of the environment where the ship is located, displays the information through the video display subsystem, realizes interchange and fusion of processing information of the plurality of video analysis processing modules, carries out comprehensive processing and judgment and decision making, and is uniformly responsible for alarming in various forms; when the early warning is generated, the information processing submodule sends early warning information to the warning submodule, and the warning submodule realizes the warning in various forms, including the screen display warning of the video display submodule, the remote warning and the help seeking of the communication submodule, and the communication submodule informs the appointed 1 or more video analysis processing modules to carry out sound and light warning; the ship monitoring and early warning service module based on multi-camera data fusion can provide a visual digital environment for ship drivers according to the environmental information sensed based on multi-camera data fusion, and assists in driving; the information processing module can also perform comprehensive early warning according to the environmental information sensed based on multi-camera data fusion, and provide navigation decision information to ship drivers or unmanned control systems.
In one embodiment, a user can configure the system through the information configuration module, wherein the system comprises the number, the position and the type of the video analysis processing module and an alarm mode; by configuring the position type of the video analysis processing module, the system can better realize the fusion of video information from a plurality of video analysis processing modules according to the information, and further realize the all-around environment perception.
The invention has the beneficial effects that:
the system can effectively identify multi-scale targets, can monitor the surrounding conditions of the ship body in an all-around and multi-angle real-time manner, can also send out proper early warning information, and provides reference information and running coping strategies for drivers on the ship or serves as a supporting system of an unmanned ship.
Drawings
FIG. 1 is a general architecture diagram of a multi-camera data fusion-based ship environment sensing and early warning system according to the present invention.
FIG. 2 shows a dual-camera video capture module in the multi-camera data fusion based ship environment sensing and early warning system of the present invention.
FIG. 3 is a single-camera video acquisition module of the ship environment sensing and early warning system based on multi-camera data fusion.
FIG. 4 shows a multi-camera data fusion based ship environment sensing and early warning system service module in the multi-camera data fusion based ship environment sensing and early warning system of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
The ship environment sensing and early warning system based on multi-camera data fusion mainly comprises a plurality of video analysis processing modules, a data center and a ship monitoring and early warning service module based on multi-camera data fusion, and the overall structure is shown in figure 1.
As shown in fig. 1, in order to solve the problem of monitoring dead angles, 8 (but not limited to 8, which may be increased or decreased according to the size of a ship body) video analysis processing modules are arranged around the ship body for sensing and collecting ambient environment information. The 8 video analysis processing modules are distributed as follows: the number of the ship heads is 1, and the ship heads are used for monitoring the state of a dead ahead channel; the left front part and the right front part are respectively 1 for assisting in monitoring the front and side channel conditions; the left and the right are respectively 1 and used for monitoring the state of a dead side channel; the left rear part, the right rear part and the ship tail part are respectively 1, the rear channel condition is monitored together, and the monitoring of the side channel condition is assisted, so that an omnibearing environment sensing and early warning system is formed together with a data center and a ship monitoring and early warning service module based on multi-camera data fusion. In practical application, the distribution of the video analysis processing modules can be increased or decreased according to the size of the ship body, and the video analysis processing modules can be decreased to 4 by the small ship, wherein the distribution is as follows: the number of the ship heads is 1, and the ship heads are used for monitoring the state of a dead ahead channel; the left and the right are respectively 1 and used for monitoring the channel condition of the side channel; the ship tail is 1 and is used for monitoring the state of a rear channel. The number of the cameras can be increased on the side face of the ultra-large ship, and the monitoring accuracy and comprehensiveness are improved.
The video analysis processing module adopted in the figure 1 mainly comprises a video acquisition submodule, an information processing submodule, a wireless and wired communication submodule and an alarm submodule, wherein 1 or 2 cameras are connected according to the video acquisition submodule and are divided into two types, namely a double-camera video analysis processing module and a single-camera analysis processing module, so that the video acquisition work of the peripheral environment of the ship is completed. The double-camera video analysis processing module is mainly applied to the front end and the rear end of a ship as shown in FIG. 2, the two cameras are configured by using binocular vision, three-dimensional reconstruction of a front channel visual scene and a rear channel visual scene can be realized, and meanwhile, accurate distance measurement is carried out after the mass center is determined; the binocular stereoscopic vision technology adopted by the dual-camera video analysis processing module is based on an optical basis, has the characteristics of high stability and strong anti-interference performance, and simultaneously has the unique advantages of low cost, simplicity and easiness in use and capability of determining three-dimensional information compared with the laser and infrared technologies; as shown in fig. 3, the single-camera video analysis processing module is mainly applied to the front side, the side and the back side of the ship shown in fig. 1, so as to realize the omnibearing video real-time monitoring of the system; under necessary conditions, the double-camera video analysis processing module can be adopted in the front side, the side and the rear side of the ship, the three-dimensional reconstruction of an all-around environment is realized, the environmental perception and monitoring of the system are improved, efficient and accurate early warning information can be output, and more reliable safety guarantee is provided. The signal processing sub-modules shown in fig. 2 and 3 mainly adopt deep learning algorithms such as YOLO technology and the like to perform target recognition on the video images acquired by the video acquisition sub-module, so as to realize environmental perception and monitoring of the ship and the periphery, including various target recognition and target distance detection in a visible range; the information processing submodule carries out target identification, distance detection and early warning processing according to tracking information of deep learning algorithms such as YOLO (YOLO), namely, when an early warning target is found or the early warning distance is reached, the information processing submodule informs the warning subsystem to carry out sound-light warning in real time, and simultaneously sends video information and early warning information (if the video information and the early warning information occur) to the data center through a wired or wireless communication mode through the wired communication interface or the wireless communication submodule.
The data center module adopted in the figure 1 mainly comprises a data storage subsystem and a communication submodule, supports two modes of wired communication and wireless communication, and is mainly used for communicating with a plurality of video analysis processing modules and a ship monitoring and early warning service module based on multi-camera data fusion. The data center module receives the video information and the early warning information collected by each video analysis processing module through the communication sub-module, stores the video information and the early warning information into the data storage subsystem, and simultaneously forwards the video information and the early warning information to the ship monitoring and early warning service module based on multi-camera data fusion, so that the video information and the early warning information of the video analysis processing modules are subjected to data fusion, and ship environment perception and early warning processing based on multi-camera data fusion is performed.
As shown in fig. 4, the ship monitoring and early warning service module based on multi-camera data fusion mainly comprises an information processing sub-module, a communication sub-module, an information configuration module, a video display sub-module, an alarm module and the like, wherein the communication sub-module can support communication with a data center in a wired or wireless communication mode and receive video data and early warning information of each video analysis processing module forwarded by the data center module; the information processing submodule realizes data fusion processing of the acquired video information acquired by each video analysis processing module, realizes three-dimensional reconstruction of the environment where the ship is located, displays the information through the video display subsystem, can realize interchange and fusion of processing information of a plurality of video analysis processing modules, carries out comprehensive processing and judgment and decision, and is uniformly responsible for alarming in various forms; when the early warning is generated, the information processing submodule sends early warning information to the warning submodule, and the warning submodule realizes the warning in various forms, including the screen display warning of the video display submodule, the remote warning and the help seeking of the communication submodule, and the communication submodule informs the appointed 1 or more video analysis processing modules to carry out sound and light warning; a user can configure the system through the information configuration module, wherein the system comprises the number, the position and the type of the video analysis processing module and an alarm mode; by configuring the position type of the video analysis processing module, the system can better realize the fusion of video information from a plurality of video analysis processing modules according to the information, thereby better realizing the omnibearing environmental perception; by configuring the alarm mode, the user experience can be effectively improved, the robustness of the whole monitoring and early warning system can be improved, and better interactive service is provided
The ship monitoring and early warning service module based on multi-camera data fusion can provide a visual digital environment for ship drivers according to the environmental information sensed based on multi-camera data fusion, and assists in driving; the information processing module can also perform comprehensive early warning according to the environmental information sensed based on multi-camera data fusion, and provide navigation decision information to ship drivers or unmanned control systems.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (1)
1. The utility model provides a boats and ships environmental perception and early warning system based on many cameras data fusion which characterized in that includes: the system comprises a plurality of video analysis processing modules, a data center module and a ship monitoring and early warning service module based on multi-camera data fusion;
8 video analysis processing modules are arranged around the ship body and used for sensing and collecting ambient environment information; the 8 video analysis processing modules are distributed as follows: the number of the ship heads is 1, and the ship heads are used for monitoring the state of a dead ahead channel; the left front part and the right front part are respectively 1 for assisting in monitoring the front and side channel conditions; 1 on the left and right respectively for monitoring the state of the dead side channel; the left rear part, the right rear part and the ship tail part are respectively 1, the rear channel condition is monitored together, and the side channel condition is monitored in an auxiliary mode, so that an omnibearing environment sensing and early warning system is formed together with a data center and a ship monitoring and early warning service module based on multi-camera data fusion;
the video analysis processing module comprises a video acquisition sub-module, an information processing sub-module, a wireless and wired communication sub-module and an alarm sub-module; the information processing submodule performs target recognition on the video image acquired by the video acquisition submodule by adopting a deep learning algorithm, so that the environmental perception and monitoring of the ship and the periphery are realized, including the recognition of various targets and the detection of target distance in a visual range; the information processing submodule carries out target identification, distance detection and early warning processing according to the tracking information of the deep learning algorithm, namely when an early warning target is found or an early warning distance is reached, the information processing submodule informs an alarm subsystem to carry out sound-light alarm in real time, and simultaneously sends video information and early warning information to a data center through a wired communication interface or a wireless communication submodule in a wired or wireless communication mode;
the data center module mainly comprises a data storage subsystem and a communication submodule, supports two modes of wired communication and wireless communication, and is used for communicating with a plurality of video analysis processing modules and a ship monitoring and early warning service module based on multi-camera data fusion; the data center module receives the video information and the early warning information acquired by each video analysis processing module through the communication sub-module, stores the video information and the early warning information into the data storage subsystem, and simultaneously forwards the video information and the early warning information to the ship monitoring and early warning service module based on multi-camera data fusion, so that the video information and the early warning information of the video analysis processing modules are subjected to data fusion, and ship environment sensing and early warning processing based on multi-camera data fusion is performed;
the system comprises a video acquisition submodule, a double-camera video analysis processing module, a single-camera video analysis processing module, a video acquisition submodule and a video acquisition submodule, wherein 1 or 2 cameras are connected according to the video acquisition submodule and are divided into two types, namely a double-camera video analysis processing module and a single-camera video analysis processing module, so that the video acquisition work of the ship surrounding environment is completed;
the double-camera video analysis processing module is applied to the front end and the rear end of a ship, realizes three-dimensional reconstruction of a front channel visual scene and a rear channel visual scene by using binocular vision configuration through two cameras, and simultaneously carries out accurate distance measurement after determining the mass center;
the single-camera video analysis processing module is applied to the side front, the side and the side rear of the ship, so that the omnibearing video real-time monitoring of the system is realized;
the ship monitoring and early warning service module based on multi-camera data fusion comprises an information processing submodule, a communication submodule, an information configuration module, a video display submodule and an alarm submodule, wherein the communication submodule can support communication with a data center in a wired or wireless communication mode and receive video data and early warning information of each video analysis processing module forwarded by the data center module; the information processing submodule realizes data fusion processing of the acquired video information acquired by each video analysis processing module, realizes three-dimensional reconstruction of the environment where the ship is located, displays the information through the video display subsystem, realizes interchange and fusion of processing information of the plurality of video analysis processing modules, carries out comprehensive processing and judgment and decision making, and is uniformly responsible for alarming in various forms; when the early warning is generated, the information processing submodule sends early warning information to the warning submodule, and the warning submodule realizes the warning in various forms, including the screen display warning of the video display submodule, the remote warning and the help seeking of the communication submodule, and the communication submodule informs the appointed 1 or more video analysis processing modules to carry out sound and light warning; the ship monitoring and early warning service module based on multi-camera data fusion can provide a visual digital environment for ship drivers according to the environmental information sensed based on multi-camera data fusion, and assists in driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910217354.4A CN109831655B (en) | 2019-03-21 | 2019-03-21 | Ship environment sensing and early warning system based on multi-camera data fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910217354.4A CN109831655B (en) | 2019-03-21 | 2019-03-21 | Ship environment sensing and early warning system based on multi-camera data fusion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109831655A CN109831655A (en) | 2019-05-31 |
| CN109831655B true CN109831655B (en) | 2021-02-02 |
Family
ID=66871051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910217354.4A Active CN109831655B (en) | 2019-03-21 | 2019-03-21 | Ship environment sensing and early warning system based on multi-camera data fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109831655B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112261312A (en) * | 2020-10-26 | 2021-01-22 | 武汉理工大学 | Self-adaptive observation system based on navigation eyes |
| CN112200175B (en) * | 2020-12-09 | 2021-02-23 | 思创数码科技股份有限公司 | Ship density observation method and system, readable storage medium and computer equipment |
| CN113705502A (en) * | 2021-09-02 | 2021-11-26 | 浙江索思科技有限公司 | Ship target behavior understanding system integrating target detection and target tracking |
| CN114066860B (en) * | 2021-11-19 | 2024-07-02 | 东南大学 | Ship image target positioning method based on multi-camera combined double-difference calculation |
| CN114692700B (en) * | 2022-05-30 | 2022-08-19 | 中天电力光缆有限公司 | Ocean environment sensing detection method, device and system based on submarine cable |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101210327B1 (en) * | 2012-06-19 | 2012-12-11 | 대한민국(해양경찰청장) | System of warning for ship |
| CN104071311A (en) * | 2014-07-15 | 2014-10-01 | 无锡北斗星通信息科技有限公司 | Ship early warning method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214851B (en) * | 2008-01-10 | 2010-12-01 | 黄席樾 | Intelligent all-weather actively safety early warning system and early warning method thereof for ship running |
| US10635950B2 (en) * | 2017-03-17 | 2020-04-28 | Nec Corporation | Surveillance system for recognition in unlabeled videos with domain adversarial learning and knowledge distillation |
| CN107886462A (en) * | 2017-11-29 | 2018-04-06 | 湖北双可智能工程有限公司 | Two-dimensional and three-dimensional integrated digital channel integrated management platform |
| CN108227606B (en) * | 2018-01-29 | 2020-12-08 | 李颖 | Ship security intelligent management system based on multi-source perception |
| CN108873799B (en) * | 2018-06-29 | 2021-07-27 | 南京海联智能科技有限公司 | Shipborne intelligent driving auxiliary terminal |
| CN108845314A (en) * | 2018-09-18 | 2018-11-20 | 合肥芯福传感器技术有限公司 | A kind of multi-mode object detection method and system |
-
2019
- 2019-03-21 CN CN201910217354.4A patent/CN109831655B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101210327B1 (en) * | 2012-06-19 | 2012-12-11 | 대한민국(해양경찰청장) | System of warning for ship |
| CN104071311A (en) * | 2014-07-15 | 2014-10-01 | 无锡北斗星通信息科技有限公司 | Ship early warning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109831655A (en) | 2019-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109831655B (en) | Ship environment sensing and early warning system based on multi-camera data fusion | |
| US11620835B2 (en) | Obstacle recognition method and apparatus, storage medium, and electronic device | |
| CN109444911B (en) | Unmanned ship water surface target detection, identification and positioning method based on monocular camera and laser radar information fusion | |
| CN109664301B (en) | Inspection method, inspection device, inspection equipment and computer readable storage medium | |
| CN110580044A (en) | unmanned ship full-automatic navigation heterogeneous system based on intelligent sensing | |
| CN109931909B (en) | Unmanned aerial vehicle-based marine fan tower column state inspection method and device | |
| CN109737981B (en) | Unmanned vehicle target searching device and method based on multiple sensors | |
| CN111524392B (en) | Comprehensive system for assisting intelligent ship remote driving | |
| US20240013505A1 (en) | Method, system, medium, equipment and terminal for inland vessel identification and depth estimation for smart maritime | |
| CN113743391A (en) | Three-dimensional obstacle detection system and method applied to low-speed autonomous driving robot | |
| CN109002800A (en) | The real-time identification mechanism of objective and recognition methods based on Multi-sensor Fusion | |
| CN104700385A (en) | Binocular vision positioning device based on FPGA | |
| CN111913177A (en) | Method and device for detecting target object and storage medium | |
| CN105516661B (en) | Principal and subordinate's target monitoring method that fisheye camera is combined with ptz camera | |
| CN114923477A (en) | Multi-dimensional space-ground collaborative map building system and method based on vision and laser SLAM technology | |
| US9734429B2 (en) | Method, system and computer program product for detecting an obstacle with a camera | |
| CN116400361A (en) | Target three-dimensional reconstruction system and method based on sonar detection | |
| CN111640177A (en) | Three-dimensional modeling method based on underwater sonar detection and unmanned submersible | |
| Yao et al. | Waterscenes: A multi-task 4d radar-camera fusion dataset and benchmark for autonomous driving on water surfaces | |
| CN112461213B (en) | Multi-mode wave monitoring device and monitoring method | |
| CN113255560A (en) | Target detection system based on image and laser data under automatic driving scene | |
| CN111652276B (en) | All-weather portable multifunctional bionic positioning and attitude-determining viewing system and method | |
| CN109061651A (en) | A kind of underwater detectoscope control system | |
| Fan et al. | Structured light vision based pipeline tracking and 3D reconstruction method for underwater vehicle | |
| CN115457497A (en) | Method for detecting vehicle speed based on 3D target detection and multi-target tracking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |