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中文摘要：
以单目CCD摄像机为视觉传感器，利用视觉系统测量方法获得水下管道的导航信息，并在此基础上建立了一个用于水下机器人的水下管道检测系统．按照数据结构的抽象程度，将系统中传递的数据信息分为由低至高4个层次，描述了各层次内容，详细介绍了水下机器人管道检测方法．为了提高系统的准确性和实时性，采用了动态窗口管道检测方法．在室内实验水池中，以某型号水下机器人为试验载体，进行了多次管道跟踪试验，验证了系统的可行性和有效性．
英文摘要：
Taking monocular CCD （charge coupled device） camera as a vision sensor, the navigation information of underwater pipelines can be acquired by vision-measuring method. On this basis, an underwater pipeline detection system for AUV （autonomous underwater vehicle） is constructed. According to the abstract degree of data structure, the data information transferred in this system can be divided into four hierarchies from low to high. Information in each hierarchy is described, and the underwater pipeline detection method for AUV is introduced in detail. In order to improve the accuracy and real-time performance of this system, the detection method based on dynamic window is applied. Finally, taking an AUV as carder in indoor experimental pool, several underwater pipeline tracking experiments are carded out. The experiment results validate the feasibility and validity of this system.
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