Tracking and Position Study for Unmanned Semi-Submersible Vessel Based on Stereo Vision

Tracking and position technology in unmanned semi-submersible vessel recycle is very important. Based on the current semi-submersible vessel technology and stereo vision measurement technology, Simulation experiment platform of the semi-submersible vessel is established, Through the stereo camera subsystem, the mark balls on the mast of semi-submersible vessel are tracked and photographed. After image processing, three-dimensional coordinates of the mark balls are calculated. According to the topology logical relationships of those mark balls, a novel algorithm of mark balls matching is proposed, then the Semi-submersible vessel coordinate is founded, and the rigid body transformation between it and the mother ship is calculated. Experiment result shown that the proposed method is effective and robust.