Underwater three-dimensional map construction method based on sonar and visual image splicing

Abstract

The invention provides an underwater three-dimensional map construction method based on sonar and visual image splicing. The underwater three-dimensional map construction method comprises the steps of adopting an underwater robot carrying a mechanical scanning ranging sonar and a monocular camera for conducting visual image and sonar ranging data collection on an underwater environment at the same time; associating the sonar ranging data with the visual imaging data, performing dimension expansion on each frame of image, and adding the sonar ranging data to construct a three-dimensional map on the basis of the two-dimensional topographic image; carrying out multi-frame image expansion splicing by adopting an image splicing algorithm based on dot-line features and base on a local homography matrix model of grids to realize three-dimensional panoramic map synthesis. According to the method, multiple sensors are adopted to construct the underwater map, the complementarity is high, the problem that edge distortion is serious when a wide-angle camera is used is solved, and the three-dimensional panoramic map with the high visualization effect and accuracy is constructed.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, in particular to an underwater three-dimensional map construction method based on sonar and visual image splicing. Background technique [0002] As marine resources are more and more needed by humans, the demand for marine development is increasing. In many vast sea areas and complex underwater environments, humans cannot reach them. It is necessary to rely on underwater robots to complete the detection and operation tasks of the underwater environment. . Due to the complexity of the underwater environment, the application of radar and laser sensors in water is greatly limited. Electromagnetic wave signals will rapidly attenuate in the underwater environment, making effective detection impossible. Visual imaging plays an important role in underwater environment detection and can replace humans to observe and record underwater terrain. Sound waves can be transmitted, observed and measur...

AI Technical Summary

Problems solved by technology

This solution only uses cameras to build underwater maps. In turbid water bodies, the camera has a limited line of sight, a small viewing range, and poor adaptability, making it impossible to build high-precision 3D maps.

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