Monocular underwater vision reinforcing method based on dark channel prior

Abstract

The invention discloses a monocular underwater vision reinforcing method based on dark channel prior. The method comprises the steps of establishing a degradation model for an atomization phenomenon and a color casting phenomenon of an underwater image, and acquiring depth-of-field information of the underwater image through calculating parallax between a bright channel and a dark channel; secondly, estimating a water body background color through the depth-of-field information; then acquiring a transmission graph of an underwater environment according to the depth-of-field information, and adjusting transmissivity in the transmission graph through an adaptive manner; and finally restoring the image, performing subsequent processing on the image through color correction, thereby eliminating residual color cast and adjusting the brightness. The monocular underwater vision reinforcing method effectively settles an underwater image reinforcing problem through an improved dark channel prior algorithm. The monocular underwater vision reinforcing method has advantages of simple model, high real-time performance, effective prevention for calculation defects of a complicated model, and better robustness to the environment. The monocular underwater vision reinforcing method can be widely used for the environments such as shallow water, clear water and water area which is rich in plankton and furthermore has wide application prospect and good economic benefit.

Description

technical field [0001] The invention relates to a monocular underwater vision enhancement method based on dark channel priority. The method is image processing before the application of underwater robot vision, and belongs to the application fields of underwater image processing and underwater robots. Background technique [0002] With the development of the ocean, the research of underwater robot technology has become a hot spot and trend of the present era. At present, underwater robots are widely used in underwater pipeline inspection, hull overhaul, underwater entertainment, underwater archaeology, scientific research and other fields. Some researchers have conducted research on observation-type underwater robots. The main means of environmental perception for underwater robots is images, but due to the scattering and absorption effects of water bodies on light, the underwater images will be seriously weakened, which seriously affects the smooth development of underwate...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the existing technical defects, aiming at the robustness of the underwater image enhancement algorithm to the environment and the problem of real-time processing, and proposes an underwater vision enhancement based on the priority processing of the monocular image dark channel method

For the environmental robustness problem, this algorithm adaptively adjusts the transmission map to adapt to more underwater environments

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