Abstract
The radar-photoelectric system is a perception system to detect the surrounding environment based on marine radar and a photoelectric device. Mast obscuration, green water, and multi-object scenes are special scenes that appear in the first-frame image during the navigation of unmanned surface vehicles. The perception system cannot accurately obtain the object information in mast obscuration and green water scenes. The radar-guided object cannot be stably extracted from the first-frame image in multi-object scenes. Therefore, this paper proposes an object extraction algorithm for the first-frame image of unmanned surface vehicles based on a radar-photoelectric system. The algorithm realizes the field-of-view adaptation to solve the problem that the features of the radar-guided object are incomplete in the first-frame image and improve the detection accuracy of the local features by 16.8%. The algorithm realizes the scene recognition of the first-frame image to improve the robustness of object tracking. In addition, the algorithm achieves the stable extraction of the radar-guided object in multi-object scenes.