Wave Direction Detection Method Based on monocular Vision

Last kilometer water distribution is a potential application for unmanned surface vehicles. This demands strong environmental awareness of the USV to predict disturbances. One of the main disturbances is wave. this paper proposes a method to estimate the wave direction using the monocular image of waves. According to the feature that the gray value of the pixel in the image changes periodically from the peak to the trough, the searching position points of image pixel value are established; At each searching position point, the pixel periods in different linear directions are calculated; The average of the minimum pixel periods of all search path points is taken as the slope of the wave direction. Both simulation and experimental results show that the proposed method can obtain good accuracy for the estimation of wave direction.