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A Submarine Pipeline Detection and 3D Reconstruction Method Based on Multi-beam Point Cloud

A technology for 3D reconstruction and submarine pipelines, which is applied in 3D modeling, image analysis, image enhancement, etc., can solve the problems of unsatisfactory pipeline detection and 3D reconstruction, and the number of point clouds on the surface of pipelines is small, so as to reduce and avoid the impact Effect

Active Publication Date: 2021-11-09
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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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 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. According to the underwater sonar image obtained by the multi-beam bathymetric sonar detection pipeline, the threshold method is used to classify and extract the image pixels to obtain 3D point cloud data; then the point cloud denoising filter method based on density analysis is used to obtain the denoised The three-dimensional point cloud data of the pipeline; then use the linear fitting method to carry out circle fitting on the point cloud data of each section of the pipeline, and perform three-dimensional reconstruction on the radius of the fitted circle and the center point of the linear change, and obtain the Three-dimensional map; compared with point cloud data obtained through sounding points, the present invention directly extracts point cloud data from sonar images, and can still obtain a relatively accurate point cloud model with a small amount of calculation, and is suitable for the detection of various underwater pipelines with 3D reconstruction.

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...

Claims

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Application Information

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Patent Type & Authority Patents(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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