针对无人船自主航行测试过程中存在的周期长、成本高、试验场景单一等问题，设计并实现一种面向实际场景下无人船自主航行测试的视觉场景虚实融合系统。该系统将构建的虚拟仿真场景，通过位姿映射、虚实配准、融合渲染等技术，将虚拟视觉场景融入无人船实际视觉场景，生成具有一致性的融合视觉场景，为无人船航行测试过程提供更加丰富、真实的试验场景。实验结果表明，无人船视觉场景虚实融合系统能够有效实现虚实无人船的姿态同步及其视觉场景融合，且在复杂的海洋环境下，融合效果能够保持较高的真实感。
Autonomous navigation testing of unmanned surface vehicles (USVs) often faces challenges such as prolonged testing cycles, high operational costs, and limited diversity of test scenarios. To address these issues, this study presents the design and implementation of a vision-based virtual–real scene fusion system tailored for real-world USV navigation tests. The proposed system integrates a constructed virtual simulation environment into the actual visual scene of the USV through advanced techniques including pose mapping, virtual–real registration, and fusion rendering. By embedding virtual visual elements seamlessly into real-world imagery, the system generates spatially and temporally coherent fused visual scenes, thereby providing richer and more realistic test scenarios for autonomous navigation experiments. Experimental evaluations demonstrate that the system can effectively achieve pose synchronization between virtual and real USVs while simultaneously fusing their visual scenes. Furthermore, under complex and dynamic maritime conditions, the fused scenes maintain a high level of perceptual realism, validating the system’s capability to enhance both the fidelity and diversity of USV testing environments.
2026,48(6): 31-38 收稿日期：2025-6-26
DOI：10.3404/j.issn.1672-7649.2026.06.005
分类号：U664.82
基金项目：国家自然科学基金联合基金重点项目（U2441244）
作者简介：孙燕(2001-),女,硕士研究生,研究方向为无人船虚实融合技术
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