36572.基于圖像處理的深海底障礙物和地形探測(cè)方法研究

1、北京科技大學(xué)碩士學(xué)位論文基于圖像處理的深海底障礙物和地形探測(cè)方法研究姓名：高峰飛申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：車(chē)輛工程指導(dǎo)教師：馮雅麗20091222北京科技大學(xué)碩學(xué)位論文ResearchondetectingmethodofdeepseabedobstacleandterrainbasedonimageprocessingAbstractThenodulecollectingvehicleisthecoreequipmentofdeep—s

2、eabedmining，SOitisnecessarytodesignarealtimeobstacleavoidingsystemfornodulecollectingvehicleThedetectionofobstacleandterrainisthebaseofobstacleavoidingsystemTraditionaldetectingsystem，whichisbasedonultrasonictechnologyca

3、nonlygettheedgeofbarrierwithlowaccuracySOitisappliedinsimpleenvironmentThecomplexenvironmentofnodule—collectingvehiclemakesitimportanttoimprovetheaccuracyoftheenvironmentdetectingsysteminoredertoprotectthesafetyofnodulec

4、ollectingvehicleBecauseofthehilgllvarietyofbrightnessandthelowwalkingspeedofthenodulecollectingvehicle，thispaperusesimageprocessingtogetandanalysetheedgeofobstacleandterraininordertoimprovetheaccuracyoftheobstacleavoidin

5、gsystemAstotheimageofminingenvironment，thispaperusedsub。sectionnon1ineartransformationtoimprovethedetailsofareawithlowbrightness，thenusedmedieanfiltertemovethenoiseofsuspendingsolidintheimage，andusedantinoisegradientoper

6、atortoextracttheedgeofobstacleandterrain，andusedselfadaptingmorphologytoimprovethecontinuityoftheedge，and，accordingtothefeatureofbrightnessvariationclassifiedtheedge，atlastbuilttheconnectionofcoordinatesbetweenthepointon

7、thegroundandthecorrespondingpointintheimage，inordertocalculatethedistance，height，andwidthoftheobstacleandterrainThismethodWasusedtoprocessandanalysebothoftheterrainimgeofterrestrialenvironmentandthatofdeepseebedenvironme

8、ntTheresultsofexperimentsshowthat：thismethodcandetectthedeepseabedterrainandobstacl，remaintheinformationofedge，improvetheantinoiseabilityandtheanti—interactionabilityandgetmellighlyaccurateparameterofobstaclefortheinform