Underwater three-dimensional imaging rapid reconstruction method suitable for large-area side-scan image
A 3D imaging and 3D reconstruction technology, which is applied in the directions of sound wave re-radiation, re-radiation, and measurement devices, can solve the problems of huge amount of calculation and inapplicability of model simulation, so as to improve calculation efficiency, improve accuracy, and reduce calculation effect of complexity
Pending Publication Date: 2020-03-17
HARBIN ENG UNIV
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[0005] However, if this direct 3D imaging scheme is applied to a large-scale 3D simulation, it is obvious that the amount of calculation is too large, and it is not suitable for model simulation.
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[0020] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0021] combine figure 1 , the present invention is divided into the following steps:
[0022] (1) Analyze the echoes and construct a two-dimensional image: for the combined transceiver sonar, usually the echoes from the seabed directly below the sonar return first, and the echoes in the oblique direction arrive later (such as figure 1 shown). In this way, after sending out a very narrow pulse, the received echo is a very long pulse train. The nature of the received echo is related to the surface texture of the object (submarine or submarine target) that reflects the echo. Hard, rough, and protruding surfaces have stronger echoes; soft, flat, and concave surfaces have weaker echoes. . And the part of the seabed that is blocked by the protruding part has no echo, and this part is called the sound shadow area. In this way, the amplitudes of the echo pulse trains...
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The invention aims to provide an underwater three-dimensional imaging rapid reconstruction method suitable for a large-area side-scan image. The underwater three-dimensional imaging rapid reconstruction method regards a three-dimensional reconstruction process as an inverse process of three-dimensional imaging, and obtains height information of a three-dimensional target by utilizing gray scale information of a two-dimensional image. The underwater three-dimensional imaging rapid reconstruction method comprises the steps of: firstly, writing out a brightness equation and converting the brightness equation into an error function form; secondly, introducing a smooth constraint condition formula; and thirdly, converting a linearization operation into a recursion function form, so that a height value can be solved, and drawing is completed. The underwater three-dimensional imaging rapid reconstruction method can remarkably improve the precision of the presented image, can significantly reduce the calculation complexity of three-dimensional imaging for directly carrying out body target representation, greatly improves the calculation efficiency, and enables the three-dimensional imagingtechnology to be applied to wide-range underwater imaging operation.
Description
technical field [0001] The invention relates to an underwater imaging method. Background technique [0002] In the field of underwater surveying and mapping, due to the serious attenuation of light waves and electromagnetic waves in the seawater medium, the method of analyzing the received echoes after emitting sound waves is usually used to image underwater targets. [0003] The more mature imaging principle at this stage is mainly to realize two-dimensional imaging. The image can be divided into three types: target area, shadow area and submarine reverberation area. Due to the limitations of the imaging principle itself, the two-dimensional image is affected by The radiation characteristics of sound waves, noise, reverberation, and the influence of the complex environment of the seabed, compared with optical images, present more obvious characteristics such as high noise, low resolution, and loss of target edge details, which often affect the target detection and classific...
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IPC IPC(8): G01S15/89
CPCG01S15/8902
Inventor 刘伟陆邢天耀温佳妮韦宇航孙博昊王云柳史博魏波
Owner HARBIN ENG UNIV