中文摘要：

运用图像处理方法对立管末端进行定位.通过无人遥控潜水器（ROV）搭载水下摄像头捕获立管末端的实时运动图像,图像模式匹配程序根据固连在立管末端的标识图案的形状进行匹配,并从图像中将标识图案区分出来,再利用图案中心点坐标信息和投影关系计算出立管标识点和井口相对于摄像头的三维坐标,进而得到世界坐标系下立管末端与井口的相对位置.通过水池试验,验证了该方法定位准确且具有实时性,可以应用于自动立管入井控制.

英文摘要：

Entry operation is required to connect a riser end with a bottom platform on the seabed.In entry operation,the relative position between the riser end and the bottom platform should be measured.To facilitate entry operation,apositioning approach based on image processing was presented in this paper,which is convenient to measure the relative position between the riser end and the bottom with underwater cameras onboard a remotely operated vehicle（ROV）.During image processing,the targets of the riser end and the bottom platform were recognized from the obtained image by matching the contour models of the targets,and the regions of targets were highlighted.In the regions,the coordinates of riser end and the bottom of platform referred to the camera were calculated from rectangle marks on the tabs attached to the riser end and the bottom platform.The relative position between the riser end and the bottom platform can be determined thereby.To test the effectiveness of the approach,a model experiment in water tank was conducted.