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A subsea pipeline detection and three-dimensional reconstruction method based on multi-beam point cloud

A technology for 3D reconstruction and submarine pipelines, which is applied in 3D modeling, image data processing, instruments, etc., can solve the problems such as the small number of point clouds on the surface of pipelines, the inability to meet pipeline detection and 3D reconstruction, and achieve the effect of reducing the impact

Active Publication Date: 2018-12-18
HARBIN ENG UNIV
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Problems solved by technology

However, for pipelines with a small radius, the number of point clouds on the surface of the pipeline obtained by the multi-beam bathymetry system is very small, which cannot meet the requirements of pipeline detection and 3D reconstruction.

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  • A subsea pipeline detection and three-dimensional reconstruction method based on multi-beam point cloud
  • A subsea pipeline detection and three-dimensional reconstruction method based on multi-beam point cloud
  • A subsea pipeline detection and three-dimensional reconstruction method based on multi-beam point cloud

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Embodiment Construction

[0033] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described below in conjunction with the accompanying drawings:

[0034] figure 1 It is an overall flowchart of a multi-beam point cloud-based submarine pipeline detection and 3D reconstruction method.

[0035] Technical scheme of the present invention is realized like this:

[0036] Step (1): The underwater sonar image is obtained through multi-beam sonar acquisition and processing, and the threshold method is used to binarize the image, and the canny edge detection method is used to extract the boundary points of the pipeline in the sonar image, and the boundary points are converted into spatial coordinates , to get the three-dimensional point cloud data of the pipeline, the point cloud data is in the space Cartesian coordinate system with the normal vector of the ground as the Z axis, and the positive d...

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Abstract

The invention relates to the field of multi-beam sonar underwater target detection and point cloud data modeling, in particular to a subsea pipeline detection and three-dimensional reconstruction method based on the multi-beam point cloud. According to the underwater sonar images obtained from multi-beam sounding sonar pipelines, the pixels are classified and extracted by threshold method to obtain three-dimensional point cloud data. Then, the denoising method based on density analysis is used to obtain the three-dimensional point cloud data of the pipeline after denoising. Then, the point cloud data of each section of the pipeline is fitted with a linear fitting method, and the radius of the fitted circle and the linearly varying center point of the circle are three-dimensionally reconstructed to obtain a three-dimensional picture of the pipeline; Compared with obtaining point cloud data through bathymetric points, the invention extracts point cloud data directly from sonar image, still can obtain more accurate point cloud model, and the calculation amount is small, which is suitable for detecting and three-dimensional reconstruction of various underwater pipelines.

Description

technical field [0001] The invention relates to the fields of multi-beam sonar underwater target detection and point cloud data modeling, in particular to a multi-beam point cloud-based submarine pipeline detection and three-dimensional reconstruction method. Background technique [0002] In recent decades, global offshore oil and gas resources have been developed rapidly. In the development of oil and gas resources, submarine oil and gas pipelines are the fastest, safest and most economical way to transport oil and gas resources, and are known as the "lifeline" of offshore oil and gas projects. With the deepening of the development of offshore oil and gas resources, the laying scale of submarine pipelines is getting larger and larger. However, under the influence of the extremely complex environment on the seabed and human construction operations, submarine oil and gas pipelines are prone to damage and damage, and damage will occur when the damage accumulates to a certain ex...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T17/00G06T7/60G06T5/00
CPCG06T7/0006G06T7/60G06T17/00G06T2207/10012G06T5/70
Inventor 周天刘哲杜伟东徐超张万远彭东东王天昊
Owner HARBIN ENG UNIV
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