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收稿：2019-08-01，
修回：2019-9-16，
录用：2019-9-23，
纸质出版：2020-01-16
移动端阅览
传统视觉感知以RGB光学图像和视频图像为主要数据源，借助计算机视觉的发展取得了巨大成功。然而，传统RGB光学成像也存在着光谱、采样速度、测量精度、可工作条件等方面的限制。近年来，视觉感知的新机理和新数据处理技术的迅速发展，为提升感知和认知能力带来了重大机遇；同时，也具有重要的理论价值和重大应用需求。本文围绕激光扫描、水声声呐成像、新体制动态成像、计算成像、位姿感知等研究方向，综述发展现状、前沿动态、热点问题和发展趋势。当前，在视觉传感研究领域，国内研究机构和团队在数据处理和应用方面取得了显著进展。整体上，国内依然要落后于欧美日等先进国家，尤其是在相关硬件的研制方面。最后，给出了发展趋势与展望，以期为相关研究者提供参考。
Traditional visual sensing is based on RGB optical and video imaging data and has achieved great success with the development of computer vision. However
traditional RGB optical imaging has limitations in spectral characterization
sampling effectiveness
measurement accuracy
and operating conditions. The new mechanism of visual sensing and new data processing technology have been developed rapidly recently
bringing considerable opportunities for improving sensing and cognitive capability. The developments are also endowed with important theoretical merits and offer a great chance for major application requirements. This report describes the development status and trends on visual sensing
including laser scanning
sonar
new dynamic imaging system
computational imaging
pose sensing
and other related fields. Researches on laser scanning are increasingly being conducted. In terms of algorithm developments for point cloud data processing
many domestic organizations and teams have reached international synchronization or leading level. Moreover
the application of point cloud data is more extensively shown by Chinese teams. However
at present
several foreign countries still show considerable advantages in hardware equipment
data acquisition
and pre-processing. In terms of event-based (i.e.
dynamic vision sensor
DVS) imaging
domestic teams have focused on target classification
target recognition and tracking
stereo matching
and super resolution
achieving progress and breakthroughs. Hardware design and production technology of DVS are concentrated in foreign research institutes
and almost all these institutes have a research history of about 10 years. Few domestic institutions can independently produce DVS. Generally
although domestic DVS research started relatively late
the development in recent years has been very rapid. Moving target detection and underwater acoustic imaging for small static targets have always been the focus in the field of underwater information technology. Underwater acoustic imaging has the characteristics of military and civil applications. Domestically
high-tech research is mainly supported by civil sectors. For example
synthetic aperture sonar was developed under sustained national support. Substantial breakthroughs
such as in common mechanism
key technologies
and demonstration applications
are difficult to achieve in a short time. Therefore
sustained and stable support guarantees technological breakthroughs and industrialization. Learning-based visual positioning and 3D information processing have made remarkable progress
but many problems remain. In non-cooperative target pose imaging perception
many countries and organizations with advanced technology for space have carried out numerous investigations
and results from some of these endeavors have been successfully applied to space operations in practice. By contrast
visual measurement of non-cooperative targets started late in China. Related programs are under way
such as for rendezvous and docking of space non-cooperative targets and on-orbit service of space robots. However
most of the related investigations remain in the stage of theoretical research and ground experiment verification
and no mature engineering application is available. According to the literature survey
at present
in the field of visual sensing
domestic institutions and teams have made substantial progress in data processing and application. However
lags are observable
especially in the development of related hardware. Laser scanning imaging has a large amount of data and abundant information but lacks semantic information. Research has emerged in the frontiers of unmanned driving
virtual reality
and augmented reality. Wide applications are expected in the future
such as in the minimal description of massive 3D point cloud data and cross-dimensional structure description. DVS has a research history of over 10 years and has progressed in SLAM
tracking
reconfiguration
and other fields. The most evident advantages of DVS are in capturing high-speed moving objects and in high-efficiency and low-cost processing. Moreover
the real-time background filtering function of DVS has great prospects in unmanned driving and trajectory analysis
which will attract much attention for wide applications. The development of small-target detection technology in deep-sea area can be used in deep-sea resource development
protection of marine rights
search and rescue
and military applications. However
inadequacy in the sonar equipment for deep-sea small-target detection seriously restricts applications. Two new system imaging sonars
namely
high-speed imaging sonar based on frequency division multiple-input multiple-output and multi-static imaging sonar
are expected to improve the detection rate and recognition rate for underwater small targets. Robustness is critical for visual positioning and 3D information processing. Intelligent methods can solve the problems of visual positioning and 3D information processing. At present
the pose perception algorithm still shows low efficiency
is imperfect
and requires further investigation. Space operations have prerequisites
including relative pose of space non-cooperative target
reconstruction of 3D structure of target
and recognition of feature parts of target. The model information of the target itself can be totally or partly known. Thus
making full use of the priori information of the target model can greatly help solve the target position. Pose tracking based on 3D model to obtain the initial pose of a target is expected to be a future hotspot. In addition
in the tide of artificial intelligence
how to combine it with pose perception is worthy of exploration. Object position and attitude perception based on vision system are crucial for promoting the development of future space operation
including space close-range operation scenarios (e.g.
target perception
docking
and capture)
small autonomous aircraft
ground intelligent vehicles
and mobile robots. The prospects are given in this paper
which may provide a reference for researchers of related fields.
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