The invention relates to an
underwater robot target detection method based on multi-sensor
information fusion, and the method comprises the steps: obtaining the
sonar echo, visual image, surrounding
water temperature and chemical information of a target through the
sonar, visual, temperature and chemical sensors of an
underwater robot, adding a
timestamp to each piece of information, aligning the information to a unified time axis through an interpolation method, and carrying out the detection of the target. Extracting sensor feature information of the target, fusing the sensor information based on a credibility model, adjusting the credibility of each sensor in real time, performing
similarity matching on the fused feature information and a target feature
library to identify a potential target object, and within a confirmed target potential range, identifying the target in the target potential range. A probability density function detection
algorithm is adopted to judge the existence of a target, temperature and
chemical sensor feature information are combined, and a
support vector machine algorithm is used to determine the type of the target, so that the problems that the
underwater target is relatively high in similarity with the surrounding environment during detection, the features are not obvious enough and accurate detection is difficult are solved.