Ship trajectory recognition and world coordinate conversion method adaptive to water surface elevation change

The invention relates to a ship trajectory recognition and world coordinate conversion method adaptive to water surface elevation change, which comprises the following steps of: detecting a ship in a monitoring video by utilizing a computer vision method, obtaining the current water surface elevation by utilizing a water surface elevation monitoring sensor, and calculating the water surface elevation according to a space conversion relation between a calibrated three-dimensional world coordinate and a pixel coordinate. The ship detection and tracking of the inland waterway are realized, the track points of the ship pixel coordinates inversely projected to the world coordinates are adjusted by self-adaption to seasonal water surface elevation changes, and the method has the advantages of accuracy, reliability, economy and high efficiency. 本发明涉及一种自适应水面高程变化的船舶轨迹识别与世界坐标转换方法，利用计算机视觉方法检测监控视频中的船舶，利用水面高程监测传感器得到当前水面高程，通过标定的三维世界坐标和像素坐标的空间转换关系，实现内河航道的船舶检测与跟踪，自适应季节性水面高程变化调整船舶像素坐标逆投影至世界坐标的轨迹点，具有准确、可靠、经济、高效的优点。