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Trinocular underwater detection method based on acousto-optic imaging

An underwater detection and imaging technology, applied in the computer field, can solve problems such as difficulties in the safety detection of underwater structures

Active Publication Date: 2019-01-04
HOHAI UNIV CHANGZHOU
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Problems solved by technology

A single sonar image and optical image processing method cannot accurately detect and locate underwater targets, which brings difficulties to underwater surveys, underwater operations, and safety inspections of underwater structures

Method used

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Embodiment Construction

[0056] The application principle of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0057] see figure 1 , The detector consists of two optical imaging devices, a forward-looking sonar imaging device, a three-axis electronic compass, a thruster module, a power supply, and an information processing and control unit integrating data analysis, attitude judgment, navigation control, and communication functions. ,

[0058] The parameters of the two optical imaging devices are exactly the same. They are respectively installed at the left and right ends of a straight line, and the forward-looking sonar imaging device is installed in the middle. The three imaging devices are fixed parallel to the front end of the detector to simultaneously acquire binocular visible light and sonar images. Underwater LED lights are installed above the two optical imaging devices.

[0059] The three-axis electronic compass magnetic sensor compose...

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Abstract

The invention discloses a trinocular underwater detection method based on acousto-optic imaging. The method comprises the following steps: a forward-looking sonar imaging device and two visible lightcameras are installed in the front of a detector in a parallel trinocular form; whether a target exists in the range of the sonar imaging is automatically analyzed, if yes, a target image is automatically segmented, and a target distance and a direction are estimated; according to the target distance and the direction, the navigation direction, the speed and the distance of the detector are set, and an optical image is acquired; optical left and right views are subjected to image restoration and saliency detection, and a foreground and a background are distinguished; the detected foreground isused as a target, optimal search domain stereo matching is carried out on the left and right views, and world coordinates of a reference image are calculated; and the length, the width, the height and the distance of the target are estimated and are displayed and annotated in a result form, and detection is completed. Underwater optical and sonar images are acquired automatically, the distance and the size of the underwater target are determined, and intuitive, convenient and accurate monitoring data are provided for underwater operation.

Description

technical field [0001] The invention relates to the technical field of computers, in particular to a trinocular underwater detection method of acousto-optic imaging. Background technique [0002] Underwater target detection and positioning play an important role in national defense and people's livelihood, and require appropriate underwater imaging technology and corresponding processing methods. Currently, underwater imaging technologies mainly include sonar imaging and optical imaging. Sonar imaging has a long range and strong penetrating ability, but due to the complex and changeable water medium, the loss, scattering, and transmission of the sound wave itself, sonar images have problems such as low contrast, strong speckle noise, and blurred target edges. The resolution of optical imaging is higher, and the underwater scenes and targets in visible light images are clearer and more real, but the action distance is shorter. A single sonar image and optical image processi...

Claims

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Application Information

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IPC IPC(8): G01S15/89
CPCG01S15/89
Inventor 刘艳李庆武霍冠英周妍
Owner HOHAI UNIV CHANGZHOU
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