The invention provides an
underwater near-field sensing method and
system based on a mechanical scanning
sonar and an optical camera, and the method comprises the steps: obtaining echo data of the mechanical scanning
sonar, and carrying out the preprocessing of the echo data, and obtaining
sonar image data; after sonar image data is processed, a near-field acoustic boundary is obtained by combining near-field environment
acoustic reflection propagation characteristics, and a real near-field boundary is further obtained; acquiring an
optical image, and acquiring a near-field optical enhancement
image based on an
underwater light propagation model compensation and weight
fusion image enhancement method; and
synchronizing and outputting the near-field acoustic boundary and the near-field optical enhancement image by using a
timestamp. Different sensing
modes of
acoustics and
optics are combined, sonar focuses on geometric boundary and
scale measurement,
optics provides visual details and textures through double-
branch multi-scale fusion of
underwater light propagation compensation and non-blind
sharpening, two paths of information are clear in positioning and do not interfere with each other, the
system can obtain the sensing ability of structure contours and texture details at the same time, and the accuracy of the
system is improved. Therefore, the
identifiability and integrity of the near-field environmental elements are improved.