Dual-frequency identification sonar image sequence splicing method

Abstract

The invention relates to a dual-frequency identification sonar image sequence splicing method which comprises the steps of removing noise of sonar images and increasing the contrast ratio of the sonar images by preprocessing the sonar images; improving accuracy in detection on feature points of the sonar images by means of double detection on the feature points; improving matching accuracy of feature point pairs by means of double check on the feature point pairs; splicing a sonar image sequence by means of solving of a sequence image homography matrix; image fusion: regulating brightness of the images to be spliced by means of a histogram normalized algorithm and performing seamless splicing on the sonar images by means of a boundary-retained weighting smoothing algorithm. The dual-frequency identification sonar image sequence splicing method can solve the problem of low resolution ratio of the sonar image and small visual angle of a detection range during water monitoring of DIDSON. By means of sonar image sequence splicing, a series of sonar images are spliced to the sonar image high in resolution ratio and large in range, and the DIDSON can monitor a large range of water environment.

Description

technical field [0001] The invention relates to a splicing method of a forward-scanning sonar image sequence, which can splice the forward-scanning sonar image sequence with a small viewing angle into a high-resolution and wide-range image. Background technique [0002] At present, countries all over the world are committed to using underwater unmanned detectors to conduct research on the underwater acoustic environment and target detection of water resources such as oceans, lakes, and rivers. This underwater moving target detection technology not only has potential huge economic benefits in civilian aspects such as ocean development and port channel construction, but also has important significance in safety detection such as underwater environment monitoring. [0003] Due to the great commercial and military value of underwater robots and the many technical challenges they face, more and more scientists and technicians have paid more and more attention to their technical r...

AI Technical Summary

Problems solved by technology

Due to the complexity of the working environment, the high-resolution dual-frequency identification sonar has the following difficulties in performing underwater dangerous target detection tasks: 1) The real-time interpretation of sonar images still relies on human eyes to manually detect Interpret and identify suspicious underwater targets. However, the principle of acoustic imaging is completely different from that of optical imaging, especially its resolution is much smaller than that of optical imaging. Therefore, it is very difficult to detect and identify dangerous targets like underwater suspicious explosives, and Interpreters are very hard-working and easily fatigued; 2) The high-resolution sonar itself has a narrow field of view, which requires image stitching; 3) When the sonar equipment works underwater, it will be affected by surges and currents, resulting in pitch, Rolling, which causes distortion of the sonar image

In practical applications, DIDSON can only observe images within a small viewing angle range at the same time

Images