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Seabed sonar point cloud data processing method

A technology of point cloud data and processing methods, applied in image data processing, instruments, calculations, etc., can solve the problems of many noise points and low accuracy in original point cloud data, saving time and improving accuracy. Effect

Active Publication Date: 2019-11-29
XIAN UNIV OF TECH
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Problems solved by technology

[0003] The object of the present invention is to provide a kind of seabed sonar point cloud data processing method, has solved the manual interpretation of sonar image data existing in the prior art, the problem that accuracy is not high
During the measurement process of side scan sonar, there will be errors due to various factors, and the original point cloud data has many noise points due to the influence of errors.

Method used

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  • Seabed sonar point cloud data processing method
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  • Seabed sonar point cloud data processing method

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Embodiment Construction

[0010] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0011] 1. Implementation steps of a seabed sonar point cloud data processing method

[0012] Step 1: Carry out the fusion of the original point cloud data, the steps are as follows:

[0013] (1) Process the sounding data, and calculate the number n of x corresponding to each y value;

[0014] (2) Process the side scan data, calculate the number m of x corresponding to each y value, and the intensity i corresponding to each y value;

[0015] (3) Calculate bathymetry data with the same y value and correspond to m / n side scan data;

[0016] (4) Traverse the bathymetric data, find the corresponding m / n side scan data for each bathymetric data, average the intensity of the m / n side scan data and assign it to the bathymetric data, so that each The bathymetric data form (x, y, z, i).

[0017] Step 2: Perform high-frequency filtering on the fused...

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Abstract

The invention discloses a seabed sonar point cloud data processing method. According to the seabed point cloud data processing method, firstly, fusion and denoising of point cloud data are carried outaccording to characteristics of sonar point cloud, then partitioned point cloud simplification is carried out according to geometrical characteristics of the sonar point cloud, and finally, repairingof four-dimensional seabed sonar point cloud holes is carried out by utilizing a point cloud hole repairing algorithm based on concentric circle local expansion. The point cloud data processed by therelated method is convenient for a filtering algorithm to identify and detect an artificial target in the sonar point cloud data, so that the time consumed by manual interpretation of sonar image data is saved, the accuracy of an artificial target recognition algorithm is improved, and the method has very important significance.

Description

technical field [0001] The invention belongs to the technical field of point cloud image processing, in particular to a method for processing seabed sonar point cloud data. Background technique [0002] Marine rights and interests belong to the scope of national sovereignty and are of great significance to the development and utilization of the ocean. In recent years, the issue of maritime sovereignty has always been the focus of attention. The device currently used to detect the seabed in my country is the seabed side-scan sonar, and a large number of side-scan sonar scanning images have been obtained through sonar side-scanning. Side-scan sonar devices can not only visually describe the geometric characteristics and topography of seabed artificial targets by using images, but also accurately locate seabed artificial targets by analyzing the three-dimensional coordinates of sonar data. However, how to effectively use sonar data to achieve Accurate and rapid interpretation ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00
CPCG06T2207/10028G06T2207/20024G06T5/70
Inventor 金海燕于洋肖照林李闯
Owner XIAN UNIV OF TECH
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