Acoustic image splicing method for same-platform different-source sonar

Abstract

The invention discloses a same-platform different-source sonar acoustic image splicing method, which comprises the following steps: firstly, researching an echo modeling method of an observation area by a different-view-angle sonar system on the same underwater platform, acquiring corresponding acoustic images of a side-scan sonar and a body search sonar by combining a conventional acoustic imaging method, and then carrying out image splicing on the basis; an image registration algorithm based on normalized mutual information is introduced into sonar image processing, and the normalized mutual information is used as a similarity measurement function to solve optimal transformation between two images, so that image registration is realized; and finally, carrying out image fusion on the matched sonar image by adopting a weighted average method so as to obtain a seabed target imaging image with relatively high resolution and position precision. According to the invention, an image registration algorithm based on normalized mutual information is introduced into the field of heterogeneous sonar acoustic image splicing, and the problems of large acoustic image registration error and poor subsequent image fusion effect caused by a traditional feature-based acoustic image registration method are solved.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to an image splicing method. Background technique [0002] In the traditional sonar system, each sonar is independent of each other, and each function is also independent of each other, and the performance is limited. In recent years, on small platforms such as underwater robots, AUVs, and underwater towed bodies, it is the mainstream trend of ocean exploration to carry out multiple sonar systems for comprehensive target detection or ocean topography mapping. Among them, the side-scan sonar installed on both sides of the underwater vehicle can obtain high-resolution images of seabed features below the side of the platform, but because it does not estimate the echo delay information, it often lacks the position information of the necessary accuracy; The volume search sonar on the head of the lower vehicle can obtain images of the seabed features directly below t...

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Problems solved by technology

The invention introduces the image registration algorithm based on normalized mutual information into the field of heterogeneous sonar acoustic image mosaic, and solves the prob

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