Multi-beam sonar target detection method by applying feature tracking

Abstract

The invention provides a multi-beam sonar target detection method by applying feature tracking. The method comprises steps: (1) data are acquired through a sonar system, sonar images are formed through imaging, and the continuous sonar images form a sonar image sequence; (2) pretreatment is carried out; (3) scale invariant feature transform features of each frame of sonar image after pretreatment are extracted; (4) feature matching is carried out on former two frames in the sonar image sequence, features which are successfully matched are marked as potential targets, and features which are not matched successfully are discarded; and (5) features presenting the potential targets are tracked in subsequent frames in the sonar image sequence, real targets are screened in the potential targets after the image sequence is traversed, and a feature locus for the real targets can be obtained. The method is used in a single frame of image to judge whether the target exists or not, multiple target features are tracked at the same in the sonar image sequence, the real targets are screened in the potential targets, and the method is wide in applicability.

Description

technical field [0001] The invention relates to an underwater target detection method, in particular to a multi-beam sonar target detection method using feature tracking. Background technique [0002] With the traction of the national marine strategy, underwater target detection technology has developed rapidly, and its application requirements include underwater obstacle avoidance and navigation, sunken object search and salvage, pipeline maintenance and bridge pier detection and other fields. Researchers generally use sonar imaging to form acoustic images of underwater scenes, and realize underwater target detection through image segmentation. The problems faced include the selection of segmentation threshold and the limitation of single image information. TrackBeforeDetect (TBD) is an emerging weak target detection theory. It does not judge whether there is a target in a single frame image, but tracks multiple targets in the image sequence at the same time, and then uses ...

AI Technical Summary

Problems solved by technology

When these features are applied to underwater target detection, there are still problems such as weak discrimination ability, high computational complexity, and poor robustness.

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