STag marking visual guidance method for USV docking
ObjectiveAiming at the problem of accurate real-time pose acquisition in the autonomous recovery of an unmanned surface vehicle (USV), a STag marking visual guidance method for unmanned vehicle docking and recovery is proposed.Methods Due to the stable attitude characteristics of STag markers, they...
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2025-04-01
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| Series: | Zhongguo Jianchuan Yanjiu |
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| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03549 |
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| _version_ | 1849311232960495616 |
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| author | Yongxin XIAO Xianbo XIANG Dian KONG Lichun YANG Shaolong YANG |
| author_facet | Yongxin XIAO Xianbo XIANG Dian KONG Lichun YANG Shaolong YANG |
| author_sort | Yongxin XIAO |
| collection | DOAJ |
| description | ObjectiveAiming at the problem of accurate real-time pose acquisition in the autonomous recovery of an unmanned surface vehicle (USV), a STag marking visual guidance method for unmanned vehicle docking and recovery is proposed.Methods Due to the stable attitude characteristics of STag markers, they are selected as the fiducial markers in the visual guidance of this work. By detecting STag markers in the video stream obtained by the camera on the USV, combined with the camera's internal parameters and the size of the markers, EPnP and direct linear transformation (DLT) algorithms are fused to calculate the relative pose of the recovery device and USV. Amplitude limiting filtering and first-order low-pass filtering are then performed to obtain the required lateral offset and heading deviation for line-of-sight (LOS) docking guidance.ResultsIn the static performance test, the average angular error of target detection is 6.85° and the average distance error is 0.056 m. In the guided autonomous recovery lake test, the accuracy of static and dynamic docking is within plus or minus 0.5 m.ConclusionCompared to traditional USV docking and recovery methods, STag marking visual guidance can enhance the terminal accuracy of USV autonomous docking and improve the overall success rate of docking and recovery. |
| format | Article |
| id | doaj-art-21fb8e17ec024e609d4696256fcfce8c |
| institution | Kabale University |
| issn | 1673-3185 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj-art-21fb8e17ec024e609d4696256fcfce8c2025-08-20T03:53:28ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852025-04-0120235736510.19693/j.issn.1673-3185.03549ZG3549STag marking visual guidance method for USV dockingYongxin XIAO0Xianbo XIANG1Dian KONG2Lichun YANG3Shaolong YANG4School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaObjectiveAiming at the problem of accurate real-time pose acquisition in the autonomous recovery of an unmanned surface vehicle (USV), a STag marking visual guidance method for unmanned vehicle docking and recovery is proposed.Methods Due to the stable attitude characteristics of STag markers, they are selected as the fiducial markers in the visual guidance of this work. By detecting STag markers in the video stream obtained by the camera on the USV, combined with the camera's internal parameters and the size of the markers, EPnP and direct linear transformation (DLT) algorithms are fused to calculate the relative pose of the recovery device and USV. Amplitude limiting filtering and first-order low-pass filtering are then performed to obtain the required lateral offset and heading deviation for line-of-sight (LOS) docking guidance.ResultsIn the static performance test, the average angular error of target detection is 6.85° and the average distance error is 0.056 m. In the guided autonomous recovery lake test, the accuracy of static and dynamic docking is within plus or minus 0.5 m.ConclusionCompared to traditional USV docking and recovery methods, STag marking visual guidance can enhance the terminal accuracy of USV autonomous docking and improve the overall success rate of docking and recovery.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03549unmanned vehiclesdockingrecoverytarget detectionnavigation systemvisual guidancestag marker |
| spellingShingle | Yongxin XIAO Xianbo XIANG Dian KONG Lichun YANG Shaolong YANG STag marking visual guidance method for USV docking Zhongguo Jianchuan Yanjiu unmanned vehicles docking recovery target detection navigation system visual guidance stag marker |
| title | STag marking visual guidance method for USV docking |
| title_full | STag marking visual guidance method for USV docking |
| title_fullStr | STag marking visual guidance method for USV docking |
| title_full_unstemmed | STag marking visual guidance method for USV docking |
| title_short | STag marking visual guidance method for USV docking |
| title_sort | stag marking visual guidance method for usv docking |
| topic | unmanned vehicles docking recovery target detection navigation system visual guidance stag marker |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03549 |
| work_keys_str_mv | AT yongxinxiao stagmarkingvisualguidancemethodforusvdocking AT xianboxiang stagmarkingvisualguidancemethodforusvdocking AT diankong stagmarkingvisualguidancemethodforusvdocking AT lichunyang stagmarkingvisualguidancemethodforusvdocking AT shaolongyang stagmarkingvisualguidancemethodforusvdocking |