The invention discloses a method for visualizing three-dimensional
imaging sonar data, belonging to the field of
image processing of the three-dimensional data in a small
sonar submersible. The method comprises the following steps of: (1) carrying out parameter calibration on the collected three-dimensional
imaging sonar data according to a space position of a three-dimensional
imaging sonar collecting array, a motion state of the three-dimensional imaging
sonar collecting array, a frequency of a
sound wave signal and an intensity of the
sound wave signal; (2) synthesizing the collected three-dimensional imaging
sonar data into a three-dimensional array according to a parameter
calibration result of the step (1); and (3) carrying out three-dimensional
visualization on the obtained three-dimensional array by utilizing a
ray cast direct
volume rendering algorithm. In the invention, the three-dimensional imaging sonar data are visualized to process image data collected by a three-dimensional imaging sonar, therefore, the three-dimensional
visualization display of the three-dimensional imaging sonar is realized for the first time, and the method facilitates to reflect detail information of a target and a
submarine environment comprehensively and accurately.