Underwater three-dimensional imaging method based on orthogonal sonar system

By acquiring complementary observation information through orthogonal sonar systems, and utilizing feature extraction, clustering, and matching to achieve three-dimensional reconstruction of underwater targets, the problem of missing elevation angle information from two-dimensional sonar is solved, reducing costs and improving the completeness and stability of reconstruction results.

CN121962448APending Publication Date: 2026-05-01HARBIN ENG UNIV
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Patent Information

Application Number
CN202610058341.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-16
Publication Date
2026-05-01

AI Technical Summary

Technical Problem

In existing underwater 3D imaging technologies, 2D sonar cannot obtain elevation angle information in the vertical direction, resulting in imaging results that are 2D projections and lack information on the height and three-dimensional structure of the target. Existing 3D reconstruction methods rely on single sonar images, which are easily interfered with or require complex arrays and high-precision carrier movement.

Method used

Two-dimensional image sonars with orthogonal deployment are used to acquire complementary observation information. Through feature extraction, clustering, matching and information fusion, three-dimensional point cloud reconstruction of underwater targets is achieved. Two-dimensional imaging information is acquired by horizontal and vertical sonars respectively and matched with feature descriptors.

Benefits of technology

It eliminates the need for complex array structures and carrier movement, reducing system cost and complexity, compensating for missing elevation angle information, improving the completeness and stability of reconstruction results, and enhancing adaptability to noise and complex environments.

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Abstract

The invention relates to the technical field of underwater acoustic imaging and three-dimensional reconstruction, in particular to an underwater three-dimensional imaging method based on an orthogonal sonar system. Performing feature extraction based on the horizontal sonar image and the vertical sonar image to obtain a horizontal feature point set and a vertical feature point set; performing feature clustering processing to form a plurality of target candidate regions; feature points from different sonars are located in a unified spatial reference coordinate system; performing feature matching between the horizontal feature point set and the vertical feature point set based on the spatial position information and the echo intensity information of the feature points to obtain matched feature point pairs; and fusing the distance and azimuth information in the horizontal sonar image and the distance and elevation angle information in the vertical sonar image, calculating the position coordinates of the target feature points in the three-dimensional space, and generating three-dimensional point cloud data of the target. The problem that elevation angle information of the two-dimensional sonar is lost is effectively solved, and the system cost and the structural complexity are reduced.
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