一种基于水纹识别的视觉定位技术

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中图分类号：TP391.41 文献标志码：A 文章编号：1001-3695（2026）01-035-0291-07

doi：10.19734/j. issn.1001-3695.2025.04.0144

Visual positioning technique based on water pattern recognition

Liu Baichuan¹，MingLi²，Lu Peng1†，ShangKejun² （1.ScooloffclellUifseo，e，； matic Control Equipment，Beijing 10oo74，China）

Abstract：Withtherapid development of thedrone industry inrecent years，visual positioning technologyhasbeen widelyapplied inlow-cost ightweight positioning systems.However，when drones operate in weakly texturedareassuchas water surfaces，the sparseandindistinct visual features insuch environments cause high image mismatch rates andsevereposeestimationdrift.Thislimitationrestrictsteapplicationofvisualpositioning techniqueinaquaticenvironments.Toaddressthischallenge，this paperproosedavisualpositioning technque basedonwaterpaterecognitionamedWPRVP.Firstlyitextracted multi-granularitycorelatonfeaturesfromwaterpatters，which establishedlocaland globalmatchingrelationshipsbetween imageframes.Secondly，itusedarecurentnetwork toiterativelyprocessthematching information，whichrefinedwaterpatternmatchingaccuracyprogressivelyfromcoarsetofinelevels.Finally，basedonmulti-viewgeometricconstraints，itperformed match screningand motion modeling，realizing robust pose estimation.Experimental resultsdemonstrate thatcompared with existing image matching and visual positioning techniques，WPRVPachieves applicabilityinaquatic environments and maintains higher acuracy.Itcan provideareliable，low-cost，high-precision navigation sourcefor navigation devices in aquatic environments，effectively assisting drones in executing flight missions over water.

Key Words：weakly textured environment； water pattern recognition； image matching；visual positioning

0 引言

随着科技的不断进步，低空经济逐渐成为全球经济发展的新热点。（剩余19345字）