CN104967832B - A kind of area detecting method that launches a ship based on image procossing - Google Patents
A kind of area detecting method that launches a ship based on image procossing Download PDFInfo
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- CN104967832B CN104967832B CN201510445728.XA CN201510445728A CN104967832B CN 104967832 B CN104967832 B CN 104967832B CN 201510445728 A CN201510445728 A CN 201510445728A CN 104967832 B CN104967832 B CN 104967832B
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Abstract
The present invention relates to a kind of area detecting method that launches a ship based on image procossing, the method includes: 1) provide a kind of territory detecting system that launches a ship based on image procossing, described detecting system includes hull bottom mounting platform, laser imaging apparatus and human body detecting device, described laser imaging apparatus and described human body detecting device are all located on described hull bottom mounting platform, described laser imaging apparatus is for carrying out laser shooting immediately below hull bottom to obtain underwater laser image, described human body detecting device is connected with described laser imaging apparatus, described underwater laser image is carried out human body and there is detection；2) described detecting system is used to detect.By means of the invention it is possible to the comprehensive personnel realizing boats and ships search and rescue, improve the precision searched and rescued under water simultaneously.
Description
Technical field
The present invention relates to digital image arts, particularly relate to a kind of territory inspection that launches a ship based on image procossing
Survey method.
Background technology
In prior art, the rescue mechanism of the mode removal search personnel under water of diver's dive is used to exist
Problems with: diver's personal safety can not get ensureing, laser imaging controls backward in technique, and image is known
Other precision is the highest and lacks effective underwater position fixing technique.Cause personal identification under water in prior art
Poor effect, easily delays rescue time.
To this end, the present invention proposes a kind of territory detecting system that launches a ship based on image procossing, it is possible to have
Effect solves above-mentioned four major problem, with boats and ships for search main body, improves existing search and rescue pattern, and raising is searched
Rescue efficiency, speed and area coverage.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides a kind of based on image procossing
The territory detecting system that launches a ship, arrange alow under water personnel's detection platform to realize the full visual field of boats and ships
Persons falling in water detects, and meanwhile, improves technique of laser imaging and image recognition technology, and, introduce water
Lower location technology, thus improve identification and the location of persons falling in water target under water.
According to an aspect of the present invention, it is provided that a kind of territory detection side that launches a ship based on image procossing
Method, the method includes: 1) provide a kind of territory detecting system that launches a ship based on image procossing, described
Detecting system includes hull bottom mounting platform, laser imaging apparatus and human body detecting device, and described laser becomes
As equipment and described human body detecting device are all located on described hull bottom mounting platform, described laser imaging sets
Being ready for use on carrying out laser shooting immediately below hull bottom to obtain underwater laser image, described human detection sets
For being connected with described laser imaging apparatus, described underwater laser image is carried out human body and there is detection；2)
Described detecting system is used to detect.
More specifically, based on image procossing launch a ship in the detecting system of territory described, also include: GPS
Location equipment, is arranged on boats and ships, and the GPS sent for receiving gps satellite positions data；Move
Dynamic hard disk, is arranged on described hull bottom mounting platform, has prestored the luminance threshold upper limit and luminance threshold
Value lower limit, is additionally operable to prestore human body tonal range and each anthropoid benchmark masterplate, described human body
Tonal range is for by the human body in image and background separation, and described each anthropoid benchmark masterplate is to respectively
Class benchmark human body carries out shooting each obtained image in advance；Sonar, is arranged on described hull bottom
On mounting platform, for submarine target is performed sonar image collection, to obtain sonar image；Sonar
Image processing equipment, is arranged on described hull bottom mounting platform, with described sonar and described movement
Hard disk connects respectively, including the first detection subset, the second detection subset and object range detection
Equipment, described first detection subset is connected respectively with described sonar and described portable hard drive, uses
In using luminance threshold upper limit traversal sonar image to be partitioned into core objective region；Described second detection
Subset is connected respectively with described first detection subset and described portable hard drive, for described core
The marginal point of target area, as seed points, utilizes luminance threshold lower limit to core objective areas adjacent
Pixel carries out brightness judgement, to obtain and to be partitioned into final goal region；Described object range detection
Subset is connected with described second detection subset, calculates the central point in final goal region to sonar chart
As the distance of detection initial point and export as target range；Described laser imaging apparatus, is arranged on described
On hull bottom mounting platform, including laser instrument, detector and microcontroller, described laser instrument is to mesh under water
Mark sends laser beam, with when described laser beam is reflexed to described detector by submarine target, it is simple to institute
State the shooting of detector, described microcontroller and described sonar image processing equipment, described laser instrument and
Described detector connects respectively, determines described detection based on target range and laser spread speed under water
The gating time of device shutter, and when gating time arrives, gate the shutter of described detector, trigger
Submarine target is shot by described detector, to obtain underwater laser image；Described human detection sets
For including that Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer set
Standby, Target Segmentation subset and target recognition subset；Described Daubechies wavelet filtering subset
It is connected with described detector, for described underwater laser image is used little based on 2 rank Daubechies
The wavelet filtering of ripple base processes, to filter the Gaussian noise in described underwater laser image, it is thus achieved that small echo
Filtering image；Described medium filtering subset is connected with described Daubechies wavelet filtering subset,
Process for described wavelet filtering image is performed medium filtering, to filter in described wavelet filtering image
Water particle scattering composition, it is thus achieved that medium filtering image；Described change of scale enhancer equipment is with described
Medium filtering subset connects, for described medium filtering image is performed change of scale enhancement process,
To strengthen target and the contrast of background in image, it is thus achieved that strengthen image；Described Target Segmentation subset
It is connected with described change of scale enhancer equipment, by grey scale pixel value in described enhancing image described people
All pixel groups adult body subimages in body tonal range；Described target recognition subset and described mesh
Mark segmentation subset connects, and is mated one by one with each anthropoid benchmark masterplate by described human body subimage, defeated
Go out human body type corresponding to the human body benchmark masterplate that the match is successful as target body type；Power supply sets
Standby, it is arranged on boats and ships, changes including solar powered device, accumulator, switching switch and voltage
Device, described switching switch is connected, according to storage respectively with described solar powered device and described accumulator
The dump energy of battery decides whether to be switched to described solar powered device to be supplied by described solar energy
Electrical part is powered, and described electric pressure converter is connected with described switching switch, switching defeated by switching
The 5V voltage entered is converted to 3.3V voltage；AT89C51 single-chip microcomputer, is arranged on ship control indoor,
It is connected with described human body detecting device by cable, also becomes with described GPS location equipment and described laser
As equipment connects respectively, when receiving described target body type, by described underwater laser image and
Described human body subimage is compressed encoding to obtain compression image and targeted compression image under water respectively；
Wireless communication interface, is connected with described AT89C51 single-chip microcomputer, for receiving described target body
During type, by described GPS location data, described compress under water image, described targeted compression image and
Described target body type is sent to search and rescue platform waterborne by cordless communication network；Display device, if
Put in the instrumental panel of boats and ships, be connected with described AT89C51 single-chip microcomputer, for receiving described mesh
Mark human body type time, show described underwater laser image and described human body subimage, be additionally operable to display with
The letter signal that described target body type is corresponding.
More specifically, based on image procossing launch a ship in the detecting system of territory described: described
AT89C51 single-chip microcomputer, when not receiving described target body type, cuts out described radio communication and connects
Mouthful, when receiving described target body type, open described wireless communication interface.
More specifically, based on image procossing launch a ship in the detecting system of territory described: described laser becomes
As equipment and described human body detecting device are integrated on one piece of surface-mounted integrated circuit.
More specifically, based on image procossing launch a ship in the detecting system of territory described: described
The compression and coding standard that AT89C51 single-chip microcomputer uses is MPEG-2 compression and coding standard.
More specifically, based on image procossing launch a ship in the detecting system of territory described: described channel radio
Letter interface is arranged on ship housing, and communicating with 4G for GPRS communication interface, 3G communication interface connects
One in Kou.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is according to the territory detecting system that launches a ship based on image procossing shown in embodiment of the present invention
Block diagram.
Reference: 1 hull bottom mounting platform；2 laser imaging apparatus；3 human body detecting devices
Detailed description of the invention
Reality to the territory detecting system that launches a ship based on image procossing of the present invention below with reference to accompanying drawings
The scheme of executing is described in detail.
In prior art, when succouring persons falling in water, boats and ships owing to search speed is fast, searching position more
It is widely used near waters, but boats and ships is difficult to carry out underwater environment human bioequivalence and location,
Meanwhile, of the prior art when identifying under water, it is poor that laser imaging controls, image processing techniques
Lacking of property.
In order to overcome above-mentioned deficiency, the present invention has built a kind of territory detection that launches a ship based on image procossing
System, is lowly integrated with laser imaging apparatus and laser imaging control equipment at ship, is also integrated with special
For the image recognition technology of underwater environment, widen the search visual field of boats and ships, improve personnel's detection under water
Accuracy.
Fig. 1 is according to the territory detecting system that launches a ship based on image procossing shown in embodiment of the present invention
Block diagram, described detecting system includes hull bottom mounting platform, laser imaging apparatus and people's health check-up
Measurement equipment, described laser imaging apparatus and described human body detecting device are all located at described hull bottom mounting platform
On, described laser imaging apparatus is for carrying out laser shooting immediately below hull bottom to obtain underwater laser figure
Picture, described human body detecting device is connected with described laser imaging apparatus, enters described underwater laser image
There is detection in pedestrian's body.
Then, the concrete structure of the territory detecting system that launches a ship based on image procossing to the present invention is continued
It is further detailed.
Described detecting system also includes: GPS positions equipment, is arranged on boats and ships, is used for receiving GPS
The GPS that satellite sends positions data.
Described detecting system also includes: portable hard drive, is arranged on described hull bottom mounting platform, in advance
Store the luminance threshold upper limit and luminance threshold lower limit, be additionally operable to have prestored human body tonal range and
Each anthropoid benchmark masterplate, described human body tonal range is used for the human body in image and background separation,
Described each anthropoid benchmark masterplate is that all kinds of benchmark human bodies are shot each obtained figure in advance
Picture.
Described detecting system also includes: sonar, is arranged on described hull bottom mounting platform, is used for
Submarine target is performed sonar image collection, to obtain sonar image.
Described detecting system also includes: sonar image processing equipment, is arranged on described hull bottom mounting platform
On, be connected respectively with described sonar and described portable hard drive, including the first detection subset,
Two detection subset and object range detection subsets, described first detection subset sets with described sonar
Standby and described portable hard drive connects respectively, is used for using luminance threshold upper limit traversal sonar image with segmentation
Go out core objective region；Described second detection subset and described first detection subset and described movement
Hard disk connects respectively, for the marginal point using described core objective region as seed points, utilizes brightness
Bottom threshold carries out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into
Whole target area；Described object range detection subset is connected with described second detection subset, calculates
The central point in final goal region is to the distance of sonar image detection initial point and as target range output.
Described laser imaging apparatus is arranged on described hull bottom mounting platform, including laser instrument, detector
And microcontroller, described laser instrument sends laser beam to submarine target, with at described laser beam by under water
When target reflection is to described detector, it is simple to the shooting of described detector, described microcontroller is with described
Sonar image processing equipment, described laser instrument and described detector connect respectively, based on target range and
Laser spread speed under water determines the gating time of described detector shutter, and arrives in gating time
Time, gate the shutter of described detector, trigger described detector and submarine target is shot, to obtain
Obtain underwater laser image.
Described human body detecting device include Daubechies wavelet filtering subset, medium filtering subset,
Change of scale enhancer equipment, Target Segmentation subset and target recognition subset；Described Daubechies
Wavelet filtering subset is connected with described detector, for using described underwater laser image based on 2
The wavelet filtering of rank Daubechies wavelet basis processes, to filter the Gauss in described underwater laser image
Noise, it is thus achieved that wavelet filtering image；Described medium filtering subset is filtered with described Daubechies small echo
Marble equipment connects, and processes for described wavelet filtering image is performed medium filtering, described to filter
Water particle scattering composition in wavelet filtering image, it is thus achieved that medium filtering image；Described change of scale increases
Hadron equipment is connected with described medium filtering subset, for described medium filtering image is performed yardstick
Conversion enhancement process, to strengthen target and the contrast of background in image, it is thus achieved that strengthen image；Described
Target Segmentation subset is connected with described change of scale enhancer equipment, by pixel in described enhancing image
The gray value all pixel groups adult body subimages in described human body tonal range；Described target recognition
Subset is connected with described Target Segmentation subset, by described human body subimage and each anthropoid benchmark mould
Version is mated one by one, and human body type corresponding to output matching successful human body benchmark masterplate is as target body
Type.
Described detecting system also includes: power supply unit, is arranged on boats and ships, including solar energy electric supplier
Part, accumulator, switching switch and electric pressure converter, described switching switch and described solar energy electric supplier
Part and described accumulator connect respectively, according to the dump energy of accumulator decide whether to be switched to described in too
Sun can power supply device to be powered by described solar powered device, described electric pressure converter and described switching
Switch connects, will be converted to 3.3V voltage by the 5V voltage of switching switch input.
Described detecting system also includes: AT89C51 single-chip microcomputer, is arranged on ship control indoor, passes through
Cable is connected with described human body detecting device, also sets with described GPS location equipment and described laser imaging
Back-up does not connect, when receiving described target body type, by described underwater laser image and described
Human body subimage is compressed encoding to obtain compression image and targeted compression image under water respectively.
Described detecting system also includes: wireless communication interface, is connected with described AT89C51 single-chip microcomputer,
For when receiving described target body type, by described GPS location data, described compress under water
Image, described targeted compression image and described target body type are sent to water by cordless communication network
Upper search and rescue platform.
Described detecting system also includes: display device, is arranged in the instrumental panel of boats and ships, with described
AT89C51 single-chip microcomputer connects, and is used for when receiving described target body type, described in display under water
Laser image and described human body subimage, be additionally operable to show the word corresponding with described target body type
Signal.
Alternatively, based on image procossing launch a ship in the detecting system of territory described: described AT89C51
Single-chip microcomputer, when not receiving described target body type, cuts out described wireless communication interface, is receiving
During to described target body type, open described wireless communication interface；Described laser imaging apparatus and institute
State human body detecting device to be integrated on one piece of surface-mounted integrated circuit；Described AT89C51 single-chip microcomputer uses
Compression and coding standard is MPEG-2 compression and coding standard；Described wireless communication interface is arranged on outside boats and ships
On shell, for the one in GPRS communication interface, 3G communication interface and 4G communication interface.
Alternatively, Daubechies wavelet filtering subset, medium filtering subset, change of scale increase
It is real that hadron equipment, Target Segmentation subset use different fpga chips with target recognition subset
Existing.
It addition, FPGA (Field-Programmable Gate Array), i.e. field-programmable gate array
Row, he is the product of development further on the basis of the programming devices such as PAL, GAL, CPLD.
He is to occur as a kind of semi-custom circuit in special IC (ASIC) field, both solves
Determine the deficiency of custom circuit, overcome again the shortcoming that original programming device gate circuit number is limited.
The circuit design completed with hardware description language (Verilog or VHDL), can be through letter
Single comprehensive and layout, is quickly burned onto on FPGA and tests, and is modern IC designs checking
Technology main flow.These can be edited element and can be used to realize some basic logic gates (ratio
Such as AND, OR, XOR, NOT) or more more complicated combination function such as decoder or number
Learn equation.Inside most FPGA, in these editable elements, also comprise memory cell
Such as trigger (Flip-flop) or other more complete block of memory.System designer can root
By editable connection, the logical block within FPGA is coupled together according to needing, just look like an electricity
Road bread board has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA and connection
Can change according to designer, so FPGA can complete required logic function.
FPGA in general speed than ASIC (special IC) is slow, it is achieved same merit
Can be bigger than ASIC circuit area.But they also have a lot of advantages such as can quick finished product,
The mistake in correction program and less expensive cost can be modified to.Manufacturer is likely to provide cheap
But edit capability difference FPGA.Because these chips have poor can edit capability, so
The exploitation of these designs is to complete on common FPGA, then design is transferred to one and is similar to
On the chip of ASIC.Another method is with CPLD (Complex Programmable Logic
Device, CPLD).The exploitation of FPGA is relative to tradition PC, the opening of single-chip microcomputer
Send out and be very different.FPGA, based on concurrent operation, realizes with hardware description language；Compared to
The order operation of PC or single-chip microcomputer (either von Neumann structure or Harvard structure) has the biggest difference.
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA
Include the Programmadle logic unit of some relatively large amount.The density of CPLD gate arrives thousand of
Between several ten thousand logical blocks, and FPGA is typically several ten thousand to millions of.CPLD and FPGA
The main distinction be their system structure.CPLD is a somewhat restrictive structure.This knot
Structure is arranged by the logical groups of one or more editable result sum and the locking of some relatively small amounts
Depositor composition.Such result be a lack of edit motility, but but have it is anticipated that delay
Time and the logical block advantage to connecting unit height ratio.And FPGA is to have a lot of connection lists
Unit, although so allowing him edit more flexibly, but structure is complicated many.
Use the territory detecting system that launches a ship based on image procossing of the present invention, rescue in prior art
Help and rely on artificial, laser controlling weak effect, the technical problem of lacking of property of image recognition, with boats and ships
For Succor plain stage, realize laser imaging control by sonar and sonar image processing techniques, use multiple
Filtering technique and targetedly image recognition technology determine human body target under water, and use Underwater Navigation
Technology completes being accurately positioned of human body target under water.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. the area detecting method that launches a ship based on image procossing, the method includes:
1) providing a kind of territory detecting system that launches a ship based on image procossing, described detecting system includes
Hull bottom mounting platform, laser imaging apparatus and human body detecting device, described laser imaging apparatus and described
Human body detecting device is all located on described hull bottom mounting platform, and described laser imaging apparatus is for hull bottom
Immediately below carry out laser shooting to obtain underwater laser image, described human body detecting device and described laser
Imaging device connects, and described underwater laser image carries out human body and there is detection；
2) described detecting system is used to detect；
It is characterized in that, described detecting system also includes:
GPS positions equipment, is arranged on boats and ships, for receiving the GPS location that gps satellite sends
Data；
Portable hard drive, is arranged on described hull bottom mounting platform, prestored the luminance threshold upper limit and
Luminance threshold lower limit, is additionally operable to prestore human body tonal range and each anthropoid benchmark masterplate, institute
State human body tonal range for by the human body in image and background separation, described each anthropoid benchmark masterplate
For all kinds of benchmark human bodies are shot each obtained image in advance；
Sonar, is arranged on described hull bottom mounting platform, for submarine target is performed sonar chart
As gathering, to obtain sonar image；
Sonar image processing equipment, is arranged on described hull bottom mounting platform, with described sonar and
Described portable hard drive connects respectively, including the first detection subset, second detection subset and target away from
From detection subset, described first detection subset and described sonar and described portable hard drive difference
Connect, be used for using luminance threshold upper limit traversal sonar image to be partitioned into core objective region；Described
Second detection subset with described first detection subset and described portable hard drive is connected respectively, be used for
The marginal point in described core objective region, as seed points, utilizes luminance threshold lower limit to core objective district
Pixel near territory carries out brightness judgement, to obtain and to be partitioned into final goal region；Described target
Distance detection subset is connected with described second detection subset, calculates the central point in final goal region
To the distance of sonar image detection initial point and as target range output；
Described laser imaging apparatus is arranged on described hull bottom mounting platform, including laser instrument, detector
And microcontroller, described laser instrument sends laser beam to submarine target, with at described laser beam by under water
When target reflection is to described detector, it is simple to the shooting of described detector, described microcontroller is with described
Sonar image processing equipment, described laser instrument and described detector connect respectively, based on target range and
Laser spread speed under water determines the gating time of described detector shutter, and arrives in gating time
Time, gate the shutter of described detector, trigger described detector and submarine target is shot, to obtain
Obtain underwater laser image；
Described human body detecting device include Daubechies wavelet filtering subset, medium filtering subset,
Change of scale enhancer equipment, Target Segmentation subset and target recognition subset；Described Daubechies
Wavelet filtering subset is connected with described detector, for using described underwater laser image based on 2
The wavelet filtering of rank Daubechies wavelet basis processes, to filter the Gauss in described underwater laser image
Noise, it is thus achieved that wavelet filtering image；Described medium filtering subset is filtered with described Daubechies small echo
Marble equipment connects, and processes for described wavelet filtering image is performed medium filtering, described to filter
Water particle scattering composition in wavelet filtering image, it is thus achieved that medium filtering image；Described change of scale increases
Hadron equipment is connected with described medium filtering subset, for described medium filtering image is performed yardstick
Conversion enhancement process, to strengthen target and the contrast of background in image, it is thus achieved that strengthen image；Described
Target Segmentation subset is connected with described change of scale enhancer equipment, by pixel in described enhancing image
The gray value all pixel groups adult body subimages in described human body tonal range；Described target recognition
Subset is connected with described Target Segmentation subset, by described human body subimage and each anthropoid benchmark mould
Version is mated one by one, and human body type corresponding to output matching successful human body benchmark masterplate is as target body
Type；
Power supply unit, is arranged on boats and ships, including solar powered device, accumulator, switching switch
And electric pressure converter, described switching switch connects respectively with described solar powered device and described accumulator
Connect, decide whether to be switched to described solar powered device with by described according to the dump energy of accumulator
Solar powered device is powered, and described electric pressure converter is connected with described switching switch, with will be by cutting
The 5V voltage changing switch input is converted to 3.3V voltage；
AT89C51 single-chip microcomputer, is arranged on ship control indoor, is set with described human detection by cable
Standby connection, is also connected, when receiving respectively with described GPS location equipment and described laser imaging apparatus
During described target body type, described underwater laser image and described human body subimage are pressed respectively
Reduce the staff code to obtain compression image and targeted compression image under water；
Wireless communication interface, is connected with described AT89C51 single-chip microcomputer, for receiving described target
During human body type, by described GPS location data, described compress image, described targeted compression figure under water
Picture and described target body type are sent to search and rescue platform waterborne by cordless communication network；
Display device, is arranged in the instrumental panel of boats and ships, is connected with described AT89C51 single-chip microcomputer, uses
In when receiving described target body type, show described underwater laser image and described human body subgraph
Picture, is additionally operable to show the letter signal corresponding with described target body type.
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| CN105380665A (en) * | 2015-11-05 | 2016-03-09 | 宋彤云 | Use method of intelligent hematology analyzer |
| CN105548954B (en) * | 2015-11-27 | 2018-05-18 | 长春理工大学 | A kind of space communication laser beam paraxonic localization method |
| CN105411568A (en) * | 2016-01-02 | 2016-03-23 | 无锡桑尼安科技有限公司 | Automatic medical monitoring method |
| CN105411548A (en) * | 2016-01-02 | 2016-03-23 | 无锡桑尼安科技有限公司 | Multifunctional medical monitoring method |
| CN105640541A (en) * | 2016-01-02 | 2016-06-08 | 无锡桑尼安科技有限公司 | Human body monitor |
| CN105534496A (en) * | 2016-01-02 | 2016-05-04 | 无锡桑尼安科技有限公司 | Automatic rescue system |
| CN105411570A (en) * | 2016-01-02 | 2016-03-23 | 无锡桑尼安科技有限公司 | Automatic medical monitoring device |
| CN105730273A (en) * | 2016-02-04 | 2016-07-06 | 梁彦云 | Compatible direct current charging pile |
| CN108459607A (en) * | 2018-04-02 | 2018-08-28 | 深圳众厉电力科技有限公司 | A kind of safe ship automatic steering system |
| CN111821645B (en) * | 2020-06-14 | 2021-07-30 | 上海百禄动漫科技有限公司 | Trampoline safety protection platform and method |
| CN112926383B (en) * | 2021-01-08 | 2023-03-03 | 浙江大学 | Automatic target identification system based on underwater laser image |
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| CN103910049A (en) * | 2012-12-31 | 2014-07-09 | 林建斌 | Onboard seabed shooting device |
| CN103139482B (en) * | 2013-03-08 | 2015-08-12 | 上海海事大学 | Vision Builder for Automated Inspection is searched and rescued in the perils of the sea |
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