CN 112907505 A

摘要

本发明公开了一种水下机器人电缆三维形状估计方法，其特征在于：包括步骤：获取水下机器人电缆图片，得到电缆分割图；基于电缆分割图使用悬链线模型得到电缆分割图中悬链线的投影方程；基于所述图像中悬链线的投影方程和电缆分割图中的检测点，通过最小二乘拟合方法得到电缆三维形状参数，进而估计电缆三维形状。本发明能够实时估计水下机器人电缆三维形状并且准确度高。

英文（機器翻譯）： The invention discloses a method for estimating the three-dimensional shape of a cable of an underwater robot, which is characterized by comprising the following steps: the method comprises the following steps: acquiring a cable picture of the underwater robot to obtain a cable segmentation picture; obtaining a projection equation of the catenary in the cable segmentation graph by using a catenary model based on the cable segmentation graph; and obtaining a three-dimensional shape parameter of the cable by a least square fitting method based on a projection equation of the catenary in the imag…

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