This invention discloses an
underwater range-gated
dynamic imaging method based on metaheuristic attitude
estimation, belonging to the field of
underwater imaging technology. The method includes: constructing an
underwater range-gated
laser imaging
system; acquiring a continuous, spatiotemporally matched sequence of original scanned images by synchronously controlling
laser emission, scanning, and gated
exposure; selecting reference frames from the original scanned
image sequence and determining the effective imaging region; modeling inter-frame
rigid body motion using six-degree-of-freedom
pose parameters; constructing a
global optimization objective function based on gray-level
mean square error; and designing an adaptive weighted pixel
loss function, assigning weights to pixels by normalizing gray-level and gradient information to suppress the influence of bright areas. This invention applies metaheuristic optimization ideas to the 6D
pose estimation problem of underwater range-gated
laser imaging, constructing a 6D
pose optimization framework suitable for highly sparse and highly constrained scenarios based on PSO, overcoming the fundamental challenges of feature point scarcity and insufficient datasets.