Underwater structured light reconstruction method and system based on polarization adaptive scatter suppression

Abstract

The present disclosure relates to a polarization adaptive scattering suppression based underwater structured light reconstruction method and system, comprising: acquiring a phase shift fringe image sequence under four polarization angles; respectively processing each phase shift fringe image sequence through time domain integral averaging to obtain average light intensity images of each polarization state; calculating average polarization degree and average polarization angle images according to the average light intensity images, and performing low-rank sparse matrix decomposition to obtain a low-rank matrix; calculating the backscattering light intensity distribution based on the low-rank matrix and the average light intensity images, estimating the infinite background light intensity by using an adaptive iterative truncated mean algorithm, and then calculating the transmission coefficient of the scattering medium; correcting the phase shift fringe image sequence frame by frame according to the backscattering light intensity distribution and the transmission coefficient, obtaining the absolute phase through phase unwrapping, and reconstructing the three-dimensional point cloud of the underwater object to be measured. The present disclosure can effectively suppress scattering and reflection interference in a strong scattering, high turbidity and high reflection underwater environment, and improve the robustness and accuracy of three-dimensional reconstruction.

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