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When a ship is sailing on the sea, the attitude of the ship changes in real - time due to the influence of the ship's own movement, wind, and waves. And it is difficult to accurately measure the ship's attitude in real - time from an aircraft. In order to solve the above problems, a pose - estimation method integrating the traditional template - matching method and the deep - learning method was designed. The deep - learning method improves the accuracy, robustness, and environmental adaptability of pose estimation, while the real - time performance of pose estimation is enhanced by combining it with the template - matching method based on contour features. Firstly, the three - dimensional model of the target ship was used to render the multi - pose images of the ship, and the ship attitude template library was established through the instance segmentation algorithm. Then, the visible - light images of the target ship were collected. The ship - matching images were obtained through the target - detection and instance - segmentation algorithms. These ship - matching images were matched with the images in the ship - attitude template database, and the attitude corresponding to the successfully - matched ship - attitude template image was the attitude of the ship. Through simulation verification, the accuracy of 3D attitude estimation could reach 1°.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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