针对UUV水下回收过程中视觉定位系统易受异物遮挡和视野限制的问题，提出一种冗余视觉定位系统。该系统基于UUV双目相机同时部署单目视觉和双目视觉2 种位姿估计算法，相应地在UUV回收装置上设置用于双目视觉定位的导引灯阵和用于单目视觉定位的二维码标识，一旦双目定位方法失效仍然可以通过单目定位方法继续实现定位功能，较传统的单目或双目定位系统具有更高的可靠性。经水池试验验证，该定位系统具有较好的定位速度和精度，且只有在灯阵目标和二维码目标均丢失的情况下才会失效。
A redundant visual positioning system is proposed to solve the problem that the visual positioning system is susceptible to foreign object occlusion and visual field limitation during UUV underwater recovery. Based on the UUV binocular camera, the system deploys both monocular and binocular position estimation algorithms simultaneously, and the guide lights array for binocular vision positioning and the QR code marker for monocular vision positioning are set on the UUV recycling device accordingly. Once the binocular positioning method fails, the positioning function can be continued through the monocular positioning method, which is more reliable than the traditional monocular or binocular positioning system. The pool test proves that the positioning system has good positioning speed and accuracy, and will only fail if both the lights array and the QR code are invisible.
2023,45(13): 65-68 收稿日期：2022-06-22
DOI：10.3404/j.issn.1672-7649.2023.13.013
分类号：TP242
作者简介：王嘉(1996-)，男，硕士，助理工程师，研究方向为水下无人系统
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