Real-time deep sea video image enhancement method for underwater robot
A technology for underwater robots and video images, which is applied in image enhancement, image analysis, image data processing, etc., and can solve problems such as blurring and clarity of deep-sea video images
Pending Publication Date: 2021-05-28
INST OF DEEP SEA SCI & ENG CHINESE ACADEMY OF SCI
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[0004] The purpose of the present invention is to provide a real-time deep-sea video image enhancement method for underwater robots, so as to solve the problems of blurred and low-definition deep-sea video images
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[0056] In order to better understand the technical contents of the present invention, specific embodiments are provided below, and in conjunction with the accompanying drawings, the present invention is further described:
[0057] see Figure 1-Figure 5 , the present invention provides a kind of real-time deep sea video image enhancement method for underwater robot, described method comprises the following steps:
[0058] Step S1: Collecting deep-sea video images by shooting equipment, and extracting all key frame images from the deep-sea video images;
[0059] Specifically, the shooting equipment is carried by an underwater robot. The underwater robot is widely used in deep-sea exploration because of its flexible and intelligent operation. After the underwater robot dives, it collects deep-sea video images in real time through the shooting equipment. It can be an underwater camera or other equipment with shooting functions. After the underwater robot dives, the underwater ca...
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The invention provides a real-time deep-sea video image enhancement method for an underwater robot, and the method comprises the following steps: collecting a deep-sea video image through shooting equipment, and extracting all key frame images from the deep-sea video image; taking the saturation, the brightness and the red and maximum blue-green channel difference value of the key frame image as the input of a linear depth-of-field model, and outputting a depth-of-field map corresponding to the key frame image; independently obtaining background light and a transmission map of the key frame image through the depth-of-field map, and enhancing the key frame image through the background light and the transmission map in combination with an underwater imaging model. According to the invention, the problems of blurring, low definition and the like of the deep-sea video image can be solved in a targeted manner, and rapid real-time enhancement of the deep-sea video image is achieved.
Description
technical field [0001] The invention relates to the technical field of underwater image enhancement, and more particularly, relates to a real-time deep-sea video image enhancement method for an underwater robot. Background technique [0002] The ocean is rich in resources, and the exploration and development of the ocean can meet the needs of human development. Underwater robots are widely used in deep-sea exploration because of their flexible and intelligent manipulation. By taking underwater real-time images, not only can underwater robots realize online target recognition and tracking, but also offline analysis of collected deep-sea videos for further in-depth research. Studying the deep sea provides a solid material basis. [0003] Affected by the marine environment, the absorption of light by seawater and the scattering of light by plankton in the water will cause problems such as fogging, color shift and low definition in the collected deep-sea images. Obtaining imag...
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IPC IPC(8): G06T7/50G06T7/90
CPCG06T7/50G06T7/90G06T2207/10016
Inventor 郭威张有波徐高飞李广伟周悦
Owner INST OF DEEP SEA SCI & ENG CHINESE ACADEMY OF SCI