Method for establishing optical characteristic model of underwater organism

Abstract

The invention relates to the technical field of underwater organism optical property measurement, in particular to an underwater organism optical property model establishing method which comprises the following steps: performing reflection and fluorescence spectrum acquisition on a target organism sample in an underwater environment to obtain a sample set; the method comprises the following steps: based on a sample set obtained by carrying out reflection and fluorescence spectrum collection on a target organism sample in an underwater environment, establishing a BRDF extension item representing the fluorescence conversion capability and wavelength transfer property of an underwater object; based on the BRDF and the BRDF extension item, constructing a complete BRDF model reflecting the reflection property and the fluorescence property of the underwater object; and performing parameterization on the complete BRDF model, and constructing an optimal parameterization BRDF model suitable for the underwater environment. According to the method for establishing the optical property model of the underwater organism, the influence of a water body on a measurement result can be effectively eliminated by establishing and correcting the optical property model of the water body, the optical properties of different underwater objects can be quickly retrieved and compared, and the practicability and the efficiency are improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater organism optical property measurement, and in particular to a method for establishing an underwater organism optical property model. Background Art

[0002] At present, the optical characteristics of underwater organisms are mainly collected through remote sensing monitoring technology, image-based RGB imaging technology, and various traditional spectral analysis. Among them, remote sensing technology refers to the use of satellite or aerial images combined with spectral recognition to remotely obtain underwater data, which can conduct large-scale exploration of shallow waters. Image-based RGB imaging technology uses image recording equipment to record RGB images, and then uses machine learning to identify and classify the images.

[0003] In nature, most objects are non-Lambertian (Lambertian, referring to a completely diffuse body) in nature, and the difference in the bidirectional reflection characteristics of the measured target can be used to distinguish different objects. The reflectivity of different targets represents the characteristic signals of different states of the target. Analyzing the spectral information of underwater organisms can accurately obtain the state distribution information of the organisms. At the same time, chlorophyll a in the water body produces fluorescence after being excited. By measuring the laser-induced fluorescence of chlorophyll a in the water body, the distribution of symbiotic plants of underwater organisms can be reflected. However, at this stage, the modeling of the optical properties of underwater organisms only stays on the establishment of a simplified reflection model, ignoring the fluorescence characteristics of underwater organisms. For organisms with fluorescence characteristics, it is difficult for existing methods to separate the reflection and fluorescence characteristics. It can only target organisms with simple surfaces underwater, and it is difficult to fully reflect the comprehensive optical properties of complex underwater organisms (such as corals).

[0004] Therefore, there is a need for a method to model the optical properties of underwater organisms that can comprehensively consider the reflection and fluorescence properties of underwater organisms. Summary of the invention

[0005] The main purpose of the present invention is to provide a method for optical property model of underwater organisms, aiming to solve the problem of insufficient accuracy and practicality of existing technical means.

[0006] To achieve the above object, the present invention provides a method for an underwater organism optical property model, the method comprising the following steps:

[0007] Acquire a sample set and collect reflectance and fluorescence spectra of target organism samples in an underwater environment;

[0008] Based on the sample set of reflection and fluorescence spectra of target organism samples in underwater environment, a bidirectional reflectance distribution function (BRDF) representing the reflectance characteristics of underwater objects is established;

[0009] Based on the sample set of reflection and fluorescence spectra collected from target organisms in underwater environment, a BRDF extension term representing the fluorescence conversion ability and wavelength transfer properties of underwater objects is established;

[0010] Based on BRDF and BRDF extensions, a complete BRDF model that reflects the reflection and fluorescence properties of underwater objects is constructed;

[0011] The complete BRDF model is parameterized to construct the optimal parameterized BRDF model suitable for underwater environment.

[0012] Furthermore, the step of acquiring a sample set and collecting reflection and fluorescence spectra of a target organism sample in an underwater environment includes:

[0013] Use standard Lambertian calibration plates and standard fluorescence quantum conversion efficiency plates to calibrate the spectrometer in an underwater environment;

[0014] Use a spectrometer to collect spectra in an underwater environment where the light source can be controlled;

[0015] Among them, for the reflection spectrum measurement, a full-band halogen lamp is used as the illumination light source;

[0016] For fluorescence spectrum measurement, blue and purple light sources are used as excitation light sources.

[0017] Furthermore, the step of using a spectrometer to collect spectra in an underwater environment where the light source is controllable includes:

[0018] Set the light source fiber and the measuring fiber probe angle to measure the reflectivity of the light source;

[0019] Change the angles of the light source fiber and the measuring fiber probe to measure the relationship between the reflectivity and the incident and exit angles in the wavelength range of 400nm-750nm;

[0020] Measure the relationship between fluorescence emission efficiency and incident and exit angles under blue and violet light excitation;

[0021] The data obtained are corrected by taking into account the absorption and scattering effects of light by water.

[0022] Furthermore, the step of establishing a BRDF extension term representing the fluorescence conversion capability and wavelength transfer property of underwater objects based on a sample set of reflection and fluorescence spectrum collection of target organism samples in an underwater environment also includes:

[0023] The fluorescence efficiency in underwater environment was measured using the Maze standard comparison method;

[0024] Considering the absorption and scattering effect of water on light of different wavelengths, the incident light wave λ is established iThe quantum conversion efficiency η to the fluorescence wavelength λf f (λ i ,λ f )Model;

[0025] Constructed at the fluorescence wavelength λ f Under the influence of water, the fluorescence emissivity f of the material in each emission direction is r (θ i ,φ i ,θ o ,φ o ,λ f )Model.

[0026] Furthermore, the step of parameterizing the complete BRDF model to construct an optimal parameterized BRDF suitable for an underwater environment also includes:

[0027] The optical property models of underwater objects in each band are fitted into parameterized models such as the improved Lambert model, the underwater Oren-Nayer model and the modified Phong model. These models have been specially modified to adapt to the underwater optical characteristics.

[0028] The weighted root mean square error (WRMSE) considering underwater optical properties is used to evaluate the approximation accuracy and select the optimal parameterized model.

[0029] Furthermore, the method for underwater organism optical property model further comprises the following steps:

[0030] Based on the optimal parameterized BRDF model suitable for underwater environment, the reflection and fluorescence characteristics of underwater objects under different incident light conditions are calculated;

[0031] Establish an optical property database of underwater objects for rapid retrieval and comparison of the optical properties of different underwater objects.

[0032] Furthermore, any one of the above technical solutions further includes the following steps:

[0033] Using the absorption coefficient, scattering coefficient and phase function of water, a water optical property model is established;

[0034] The results of BRDF and BRDF extension items are corrected based on the water optical property model.

[0035] The present invention provides a method for underwater organism optical property model, which can accurately describe the complex optical properties of underwater objects by adopting a modified BRDF model and an extended term to simultaneously consider the reflection and fluorescence properties, overcome the limitations of the existing simplified model, and greatly improve the accuracy and application scope of the model. At the same time, a water body optical property model is established and corrected, which can effectively eliminate the influence of the water body on the measurement results, and can also quickly retrieve and compare the optical properties of different underwater objects, thereby improving practicality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained according to the processes shown in these drawings without paying creative work.

[0037] Figure 1 It is a flow chart of an embodiment of the method for underwater organism optical property model. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Underwater organisms have a close biological relationship with some algae. By monitoring the concentration of chlorophyll a, the distribution of their symbiotic plants can be known, which in turn indirectly reflects the biomass and health of aquatic organisms. For example, there is a symbiotic relationship between coral polyps and zooxanthellae. Corals provide protection and nutrition for zooxanthellae, while zooxanthellae provide organic matter and oxygen to corals through photosynthesis. When corals face severe survival pressure, the zooxanthellae in their bodies will leave, and the corals will soon die. Therefore, in the prior art, the degree of absorption of light by underwater substances at a specific wavelength is often measured by a spectrophotometer as an effective means of monitoring underwater organisms. Since the bidirectional reflection characteristics of different substances are different, the bidirectional reflection characteristics of the target are also used to establish a radiation transmission model, so that the spectral information and the biological physiological index are quantitatively associated to achieve health monitoring of underwater organisms such as corals. However, the optical characteristic model in the prior art solution only stays on a simplified reflection model (such as the Lambert model or the Cook-Torrance model), ignoring the fluorescence characteristics of underwater organisms.

[0042] Based on this, the embodiment of the present application provides a method for an underwater organism optical property model, referring to Figure 1 , Figure 1 It is a flow chart of an embodiment of the method for underwater organism optical property model.

[0043] In this embodiment, the specific steps of the method for underwater organism optical property model are as follows:

[0044] Step S10, obtaining a sample set, collecting reflection and fluorescence spectra of target organism samples in an underwater environment.

[0045] In this example, step S10 also includes the following steps:

[0046] Step S11, placing the standard Lambert calibration plate with waterproof design and the standard fluorescence quantum conversion efficiency plate in the measurement system in order, using the same conditions as the sample to be measured for measurement, recording the reflectivity of the standard Lambert calibration plate and the fluorescence emission spectrum of the standard fluorescence quantum conversion efficiency plate, and analyzing the measurement data obtained from the two standard plates, clarifying the reflectivity value obtained from the standard Lambert calibration plate and the fluorescence quantum efficiency value obtained from the standard fluorescence quantum conversion efficiency plate, and then comparing the reflectivity value and fluorescence quantum efficiency value of the two standard plates with the known standard values ​​to ensure that the reflectivity value and fluorescence quantum efficiency value of the two standard plates are consistent with the standard values. When there is a deviation, it is necessary to adjust the measurement system until the expected accuracy is achieved.

[0047] Step S12, construct a relatively dark underwater environment and place a stable and controllable light source, adjust the incident angle of the light source according to needs, and use a fiber-optic hyperspectrometer to collect the reflection and fluorescence spectrum information of the target.

[0048] Among them, for the reflection spectrum measurement, this embodiment uses a full-band halogen lamp as the illumination light source and uses a dual-channel spectrometer for measurement. First, the light source is placed 5 cm away from the sample to be measured, and the sample is controlled so that the surface spot diameter is about 5 mm. Then, the light source fiber probe and the measurement fiber probe are respectively aligned with the sample and the Lambertian calibration plate at a distance of 5 cm for measurement. Then, the angles of the light source fiber probe and the measurement fiber probe are changed to measure and record the reflectivity R of the underwater object in the wavelength range of 400nm-750nm (visible light range). i With the incident angle θ i , the angle of incidence θ o The relationship between.

[0049] In detail, the two optical fiber probes of the dual-channel spectrometer are respectively aimed at the sample and the Lambertian calibration plate, and the reflected light energy of both is obtained at the same time, and the reflectivity of the target object is calculated by ratio calculation. The use of a dual-channel spectrometer can effectively avoid measurement errors caused by factors such as absorption attenuation of water bodies and fluctuations in underwater light environments, and increase data reliability.

[0050] For fluorescence spectrum measurement, blue light (wavelength 480nm) and violet light (400nm) with strong penetrating ability in water are used as excitation light sources. The fluorescence emission efficiency f under the excitation of blue light (480nm) and violet light (400nm) is mainly measured. r With the incident angle θ i , the angle of incidence θ o The relationship between.

[0051] Among them, the reflectivity R c The formula is:

[0052]

[0053] Where, L c is the reflected light radiance of the underwater biological sample, L p is the reflected light radiance of the calibration plate, measured by the spectrometer, R c , R p are the reflectances of the underwater biological sample and the calibration plate, respectively, where R p is a known value calibrated by the metrology department. The reflectivity R of underwater organisms can be calculated by the above formula. c .

[0054] Step S20, based on the sample set of reflection and fluorescence spectrum collection of the target biological sample in the underwater environment, establish a bidirectional reflectance distribution function (BRDF) representing the reflection characteristics of the underwater object.

[0055] Since different materials have different bidirectional reflection characteristics, the bidirectional reflection characteristics of the target can be used to establish a radiation transmission model, so that the spectral information and biological physiological indexes can be quantitatively associated, thereby realizing the health monitoring of underwater organisms such as corals. The key to the radiation transmission model is the establishment of an optical property model. At present, the object is usually approximated as a Lambert model or Cook-Torrance model for simulation calculation.

[0056] The Lambert model is a physical model that describes the reflection characteristics of an ideal diffuse reflection surface. Its core is based on Lambert's cosine law. An ideal diffuse reflection surface will reflect light in all directions with the same brightness, regardless of the observation direction. The Lambert model assumes that the surface of the object is completely rough, that is, the light will be completely scattered after it hits the surface, without any directionality, and is only proportional to the cosine value of the direction of the incident light and the surface normal direction of the illuminated object. However, the model ignores the influence of the surface microstructure on the reflected light, such as surface texture and roughness. Therefore, the use of this type of model is not effective in measuring information on underwater organisms.

[0057] The Cook-Torrance model is a bidirectional reflectance distribution function (BRDF) model based on microplane theory. The advantage of this model is that it can simulate more realistic reflection effects of materials such as metals and plastics, including the effects of gloss, highlights, and color changing with viewing angle. However, its accuracy is insufficient on extremely rough or smooth surfaces.

[0058] In addition, the Oren-Nayer model is also often used in the prior art. The Oren-Nayer model is a BRDF (Bidirectional Reflectance Distribution Function) used in the fields of computer graphics and computer vision. It is proposed to improve the traditional Lambert reflection model and can more accurately simulate the diffuse reflection phenomenon on rough surfaces. The Oren-Nayer model introduces a surface roughness parameter to solve the problem in the Lambert model that the roughness of the object surface affects the reflection mode of light. It takes into account the distribution of microplanes and the scattering of light, and can simulate the effects of mutual occlusion, shadow coverage and mutual reflection of light between microplanes caused by surface roughness. However, the problem of the fluorescence characteristics of underwater organisms is still not considered.

[0059] In detail, the present invention uses the standard comparison method to establish the specific formula of the BRDF (bidirectional reflectance distribution function model) of underwater organisms (taking coral as an example):

[0060] f r =(θ i ,θ o ,λ i ,λ o )=φ r (λ i ,λ o )*ρ r (θ o ,λ o )

[0061] Among them, φ r (λ i ,λ o ) is the incident wavelength λ i To the reflection wavelength λ o The reflection frequency, ρ r (θ o ,λ o ) is the incident light intensity in all directions of the material.

[0062] Step S30, based on a sample set of reflection and fluorescence spectra collected from a target organism sample in an underwater environment, a BRDF extension term representing the fluorescence conversion capability and wavelength transfer properties of an underwater object is established.

[0063] In this example, step S30 also includes the following steps:

[0064] Step S31, using the Maze standard comparison method to measure the fluorescence efficiency in an underwater environment;

[0065] It can be understood that the Maze standard comparison method is a quality control method that determines the relevant properties of a sample by comparing the sample to be tested with a known standard.

[0066] Step S32, considering the absorption and scattering effect of water on light of different wavelengths, establish the incident light wave λ i to the fluorescence wavelength λ f The quantum conversion efficiency η f (λ i ,λ f )Model;

[0067] Step S33, constructing a f The fluorescence emission rate f of underwater organisms in each emission direction under the condition of water body and considering the influence of water body r (θ i ,φ i ,θ o ,φ o ,λf ) model, since the biofluorescence is only related to the surface irradiance and has nothing to do with the direction of the incident light, it is constructed at the fluorescence wavelength λ f Next, we establish a BRDF extension that represents the fluorescence conversion ability and wavelength transfer properties of underwater organisms (such as coral tissue):

[0068] f f (θ o ,λ i ,λ f )=φ f (λ i ,λ o )*ρ f (θ f ,λ o )

[0069] Among them, φ f (λ i ,λ o ) is the wavelength of incident light λ i to the fluorescence wavelength λ o The quantum conversion efficiency, ρ f (θ f ,λ o ) is the fluorescence emissivity of the material in each emission direction.

[0070] Step S40, based on BRDF and BRDF extensions, a complete BRDF model that reflects the reflection properties and fluorescence properties of underwater objects is constructed:

[0071] f(θ i ,θ o ,λ i ,λ o ) = f r (θ f ,θ o ,λ o )+f f (θ o ,λ i ,λ o ).

[0072] Step S50, parameterize the complete BRDF model, fit the optical property models of underwater organisms in each band into parameterized models such as the improved Lambert model, the underwater Oren-Nayer model, and the modified Phong model, respectively, use the weighted root mean square error WRMSE considering the underwater optical characteristics to evaluate the approximation accuracy, construct the optimal parameterized BRDF model suitable for the underwater environment, and calibrate these models to adapt to the optical characteristics of underwater organisms.

[0073] Step S60, calculating the reflection and fluorescence characteristics of underwater objects under different incident light conditions based on the optimal parameterized BRDF model suitable for underwater environments;

[0074] The present invention also relates to the establishment and correction of a water body optical property model, including:

[0075] Step S70, establishing an optical property database of underwater objects, including:

[0076] (1) Construct the absorption coefficient of water body:

[0077] The change of light intensity I(cd) and absorption coefficient a(m -1 ) is:

[0078]

[0079] Among them, (cd) is the physical unit of light intensity I, candela. Each component in the water medium has a certain absorption of light. The total absorption coefficient can be expressed by the sum of the absorption coefficients of all absorbing substances. The expression is as follows:

[0080] a(λ)=a w (λ)+a p (λ)+a y (λ)+a s (λ)

[0081] Among them, a w (λ) is the pure water absorption coefficient (m -1 ), a p (λ) is the absorption coefficient of phytoplankton (m -1 ), a y (λ) is the absorption coefficient of CDOM (Colored dissolved organic matter) (m -1 ), a s (λ) is the absorption coefficient of non-pigmented suspended particles (m -1 ).

[0082] (2) Construct the scattering coefficient:

[0083] The change of light intensity and scattering coefficient b(m -1 ) is expressed as:

[0084]

[0085] Therefore, the scattering properties of water bodies depend on the scattering of pure water, phytoplankton, and non-pigmented suspended particles. The expression of the seawater scattering coefficient is:

[0086] b(λ)=b w (λ)+bp (λ)+b s (λ)

[0087] Among them, b w (λ) is the pure water absorption coefficient (m -1 ), b p (λ) is the absorption coefficient of phytoplankton (m -1 ), b s (λ) is the absorption coefficient of non-pigmented suspended particles (m -1 ).

[0088] (3) Constructing the scattering function:

[0089] Characterizing the relationship between scattering and direction, the expression is:

[0090]

[0091] Where E is the incident irradiance (W·m -2 ).

[0092] The volume scattering function of the water body should also consider the scattering contribution of phytoplankton and non-pigmented suspended particles. The total volume scattering function is the result of the superposition of various factors, and the expression is:

[0093]

[0094] Where β w is the volume scattering function of pure water (m -1 sr -1 ), β S is the volume scattering function of phytoplankton (m -1 sr -1 ), β p - is the volume scattering function of non-pigmented suspended particles (m -1 sr -1 ).

[0095] It can be understood that the underwater object optical property database is used to quickly retrieve and compare the optical properties of different underwater objects.

[0096] Step S80, using the absorption coefficient, scattering coefficient and phase function of the water body, a water body optical characteristic model is established, and based on the water body optical characteristic model, the results of BRDF and BRDF extension items are corrected.

[0097] In combination with all the above technical solutions, the method of the optical characteristic model of underwater organisms provided by the present invention comprehensively considers the reflection and fluorescence characteristics of underwater organisms in an underwater environment, establishes a more comprehensive optical characteristic model, overcomes the limitation of the traditional method of separating reflection and fluorescence, and can more accurately reflect the real optical behavior of underwater objects. By using hyperspectral sensing technology to provide higher spectral resolution, a wide range of bands including ultraviolet, visible light, near infrared and mid-infrared bands are covered. By changing the angle of the light source and the probe for all-round measurement, combined with the correction of the influence of the water body, the influence of the water body on the measurement results is effectively eliminated, the accuracy and comprehensiveness of the measurement of the optical characteristics of underwater objects are greatly improved, and the defect of ignoring the influence of the water body in the prior art is overcome. At the same time, the optimal parameterized BRDF model obtained by using the BRDF function model corrected by the water body optical characteristic model and its extension items can accurately describe the complex optical characteristics of underwater organisms, overcome the limitations of the simplified model, greatly improve the accuracy and scope of application of the model, and establish an underwater object optical characteristic database, so that it is possible to quickly retrieve and compare the optical properties of different underwater objects, and improve the practicality and efficiency of the present invention.

[0098] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for establishing an optical property model of an underwater organism, characterized in that: The following steps are involved: Acquire a sample set and collect reflectance and fluorescence spectra of target organism samples in an underwater environment; Based on the sample set of reflection and fluorescence spectra of target organism samples in underwater environment, a bidirectional reflectance distribution function (BRDF) representing the reflection characteristics of underwater objects is established; Based on the sample set of reflection and fluorescence spectra collected from target organisms in underwater environment, a BRDF extension term representing the fluorescence conversion ability and wavelength transfer properties of underwater objects is established; Based on BRDF and BRDF extensions, a complete BRDF model that reflects the reflection and fluorescence properties of underwater objects is constructed; The complete BRDF model is parameterized to construct the optimal parameterized BRDF model suitable for underwater environment.

2. The method for underwater organism optical property modeling according to claim 1, characterized in that: The step of acquiring a sample set and collecting reflection and fluorescence spectra of a target organism sample in an underwater environment comprises: Use standard Lambertian calibration plates and standard fluorescence quantum conversion efficiency plates to calibrate the spectrometer in an underwater environment; Use a spectrometer to collect spectra in an underwater environment where the light source can be controlled; Among them, for the reflection spectrum measurement, a full-band halogen lamp is used as the illumination light source; For fluorescence spectrum measurement, blue and purple light sources are used as excitation light sources.

3. The method for underwater organism optical property modeling according to claim 2, characterized in that: The step of using a spectrometer to collect spectrum in an underwater environment where the light source is controllable comprises: Set the light source fiber and the measuring fiber probe angle to measure the reflectivity of the light source; Change the angles of the light source fiber and the measuring fiber probe to measure the relationship between the reflectivity and the incident and exit angles in the wavelength range of 400nm-750nm; Measure the relationship between fluorescence emission efficiency and incident and exit angles under blue and violet light excitation; The data obtained are corrected by taking into account the absorption and scattering effects of light by water.

4. The method for underwater organism optical property modeling according to claim 1, characterized in that: The step of collecting the reflection and fluorescence spectra of the target organism sample based on the underwater environment and establishing the BRDF extension item representing the fluorescence conversion ability and wavelength transfer property of the underwater object also includes: The fluorescence efficiency in underwater environment was measured using the Maze standard comparison method; Considering the absorption and scattering effect of water on light of different wavelengths, the incident light wave λ is established i The quantum conversion efficiency η to the fluorescence wavelength λf f (λ i ,λ f )Model; Constructed at the fluorescence wavelength λ f Under the influence of water, the fluorescence emissivity f of the material in each emission direction is r (θ i ,φ i ,θ o ,φ o ,λ f )Model.

5. The method for underwater organism optical property modeling according to claim 1, characterized in that: The step of parameterizing the complete BRDF model to construct an optimal parameterized BRDF suitable for an underwater environment also includes: The optical property models of underwater objects in each band are fitted into parameterized models such as the improved Lambert model, the underwater Oren-Nayer model and the modified Phong model. These models have been specially modified to adapt to the underwater optical characteristics. The weighted root mean square error (WRMSE) considering underwater optical properties is used to evaluate the approximation accuracy and select the optimal parameterized model.

6. The method for underwater organism optical property modeling according to claim 1, characterized in that: The method for underwater organism optical property model further comprises the following steps: Based on the optimal parameterized BRDF model suitable for underwater environment, the reflection and fluorescence characteristics of underwater objects under different incident light conditions are calculated; Establish an optical property database of underwater objects for rapid retrieval and comparison of the optical properties of different underwater objects.

7. The method for underwater organism optical property modeling according to any one of claims 1 to 6, characterized in that: The method for underwater organism optical property model further comprises the following steps: Using the absorption coefficient, scattering coefficient and phase function of water, a water optical property model is established; The results of BRDF and BRDF extension items are corrected based on the water optical property model.

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