Dual-frequency identification sonar image sequence splicing method

A technology of image mosaic and image sequence, which is applied in image enhancement, image data processing, graphic image conversion, etc. It can solve the problems of sonar image deformation, narrow field of view of high-resolution sonar, and easy fatigue, and achieve the effect of improving contrast

Active Publication Date: 2014-07-02
精海智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

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  • Dual-frequency identification sonar image sequence splicing method
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  • Dual-frequency identification sonar image sequence splicing method

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0056] Example one:

[0057] participate figure 1 , This front-scan sonar image stitching method is characterized in that the seamless stitching of sonar image sequences is realized through the following steps:

[0058] 1) Sonar image preprocessing: remove the noise of sonar image and improve contrast;

[0059] 2) Dual detection of feature points: to improve the detection accuracy of feature points in sonar images;

[0060] 3) Double verification of feature point pairs: to improve the accuracy of feature point pair matching;

[0061] 4) Solving the homography matrix of sequential images: used to stitch sonar image sequences;

[0062] 5) Image fusion: to eliminate the seams after sonar image stitching.

[0063] 2. The front scan sonar image stitching method according to claim 1, characterized in that: the specific steps of the step (1) sonar image preprocessing are:

[0064] ① Use Gaussian smoothing method to remove Gaussian noise;

[0065] ②Improve the contrast of the image by using the me...

Example Embodiment

[0101] Embodiment two:

[0102] Attached figure 1 It is a flow chart of a method for splicing a front-scan sonar image sequence in an embodiment of the present invention. Such as figure 1 As shown, the operation steps of this front scan sonar image stitching method include the following:

[0103] (1) Sonar image preprocessing

[0104] ① Use Gaussian smoothing method to remove Gaussian noise;

[0105] ②Improve the contrast of the image by using the method based on image gray scale stretching.

[0106] (2) Double detection of feature points

[0107] ① Convert the sonar image into an integral image: for a certain point in the integral image , , The value of this point is Indicates that the calculation is shown in formula (1);

[0108] (1)

[0109] ②Using the Hessian matrix to calculate the interest point of the image: Calculate the local maximum of the Hessian matrix determinant of a point in the image at different scales. Any point in the image , The point is ...

Example Embodiment

[0133] Embodiment three:

[0134] Step (5) Image fusion is another preferred embodiment of the present invention. The steps of image fusion include the following:

[0135] ① Use histogram normalization algorithm to adjust the brightness of subsequent images to be consistent with the brightness of the reference image;

[0136] ②A weighted smoothing algorithm with boundary preservation is used to realize the fusion of the registered images. The algorithm flow chart is as follows image 3 Shown

[0137] Assume , Is the sonar image of two adjacent frames to be spliced, with In the interval Overlap, assuming Represents the fused image, and the value of the smoothed pixel is , The specific steps of the algorithm are as follows:

[0138] 1) Respectively with Perform edge detection on the image to extract the contour of the fan-shaped area;

[0139] 2) Set with The value of the corresponding pixel in the overlapping part with ,Such as figure 2 Shown, take

[0140] ...

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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...

Claims

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Application Information

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IPC IPC(8): G06T5/50G06T3/40
Inventor 李恒宇罗均谢少荣刘恒利黄潮炯
Owner 精海智能装备有限公司
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