Three-dimensional sonar image background segmentation method based on sampling consensus algorithm

Abstract

The invention discloses a three-dimensional sonar image background segmentation method based on a sampling consensus algorithm, which comprises the steps of (1) acquiring sonar data, and converting three-dimensional sonar range image information corresponding to each frame of the sonar data into point cloud data under global coordinates; (2) artificially performing three-dimensional image modeling on a background target, and acquiring a point cloud background model library; (3) retrieving the point cloud data by using an RNASAC algorithm based on the existing point cloud background model library so as to acquire matched models; (4) selecting a model with the best conformance by comparing various matching results; and (5) removing point cloud corresponding to the selected model from the total point cloud, wherein the left point cloud is target point cloud required by detection. The method disclosed by the invention can adapt to more and more different scenes, and has good timeliness and maintainability.

Description

technical field [0001] The invention belongs to the field of three-dimensional sonar image processing, and in particular relates to a background segmentation method of a three-dimensional sonar image based on a sampling consistency algorithm. Background technique [0002] Because of its unique strategic position and huge economic potential, the ocean has been paid more and more attention by people. my country's geographical location also determines the importance of developing marine science and technology. Among them, underwater sonar detection is widely used in the development of various marine resources. At the same time, it is also an important means of underwater detection. It has broad applications in the detection and tracking of frogmen, target recognition of mines, and underwater remote control navigation. prospect. [0003] The 3D sonar system is a new type of underwater 3D acoustic imaging system, which has the characteristics of clear images and good visibility...

AI Technical Summary

Problems solved by technology

[0003] The 3D sonar system is a new type of underwater 3D acoustic imaging system, which has the characteristics of clear images and good visibility. However, when obtaining 3D sonar point cloud data, due to equipment accuracy, operator experience, and underwater environment factors Influenced by such factors, some noise points will inevitably appear in the point cloud data

In practical applications, in addition to the noise points generated by random errors, due to external disturbances such as obstacles, fish schools and other factors, there are often some discrete points in the point cloud data that are far from the point cloud of the measured object, that is, outlier points , complicating the correct identification of targets in underwater backgrounds

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