An algorithm of image processing for underwater range finding by active triangulation

In this paper, we present an algorithm for range image processing to reduce effects of underwater environments on the quality of range finding. This algorithm of image processing is based on the principle of the least-squares error method, which fits discrete image data to continuous piecewise curves. To simply the fitting of image data, the interval of each row and column is subdivided into several subintervals. Then a straight line is used to fit the image data within the subinterval. To merge two adjacent lines together, a weighting technique with a linear weighting factor is imposed. After the image is processed, it will provide a better imaging quality than the original one if values of the design parameters are properly assigned. Thus, a series of design of experiment process runs are carried out to study effects of the design parameters on quality of range finding. To make the proposed algorithm robust against noises, both environmental illumination and turbidity are forced into the experiments by utilizing an outer array. From the results of the range finding experiments, it was found that the proposed algorithm of image processing in truth has potential of increasing quality of range finding. The results also show that the proposed algorithm can achieve high quality of range finding only having the processing of row elements. Also, the quality of range finding by using the proposed algorithm of image processing is superior to that of using a bandpass optical filter.     

Computer modeling and the design of optimal underwater imagingsystems

A computer model to simulate the formation of underwater images has been developed. The model incorporates the inherent and apparent properties of the propagation of light in water. An image is approximated as a linear superposition of several image components. The model has been used to simulate the relative advantages of different camera/light configurations. The results indicate that extremely large gains in image contrast can be obtained by careful design of beam patterns and the manipulation of camera and light locations. The performance of range-gated systems is explored, and it is demonstrated that these systems are presently power limited. In order to obtain better quality images at larger distances, an imaging configuration which consists of scanning an incoherent light beam across the field of view of a camera is proposed. The incoherent light-scanning system is shown to have advantages over both conventional imaging techniques and range-gated methods     

Recovery of underwater visibility and structure by polarization analysis

Underwater imaging is important for scientific research and technology as well as for popular activities, yet it is plagued by poor visibility conditions. In this paper, we present a computer vision approach that removes degradation effects in underwater vision. We analyze the physical effects of visibility degradation. It is shown that the main degradation effects can be associated with partial polarization of light. Then, an algorithm is presented, which inverts the image formation process for recovering good visibility in images of scenes. The algorithm is based on a couple of images taken through a polarizer at different orientations. As a by-product, a distance map of the scene is also derived. In addition, this paper analyzes the noise sensitivity of the recovery. We successfully demonstrated our approach in experiments conducted in the sea. Great improvements of scene contrast and color correction were obtained, nearly doubling the underwater visibility range.     

BP神经网络图象边缘检测器及其内部信息

介绍用神经网络实现图象边缘检测的实验研究结果。一幅数字图象用一个规模不大的ＢＰ网络边缘检测器处理小邻区，再用扫描此图象的方法进行边缘检测。此方法之最大优点是设计简单，网络边缘检测器的性能也令人满意．欠缺是：学习时间长，神经网络隐层中权重包含的信息难于解释清楚。     

Vision-based system of AUV for an underwater pipeline tracker

This paper describes a new framework for detection and tracking of underwater pipeline,which includes software system and hardware system.It is designed for vision system of AUV based on monocular CCD camera.First,the real-time data flow from image capture card is pre-processed and pipeline features are extracted for navigation.The region saturation degree is advanced to remove false edge point group after Sobel operation.An appropriate way is proposed to clear the disturbance around the peak point in the process of Hough transform.Second,the continuity of pipeline layout is taken into account to improve the efficiency of line extraction.Once the line information has been obtained,the reference zone is predicted by Kalman filter.It denotes the possible appearance position of the pipeline in the image.Kalman filter is used to estimate this position in next frame so that the information of pipeline of each frame can be known in advance.Results obtained on real optic vision data in tank experiment are displayed and discussed.They show that the proposed system can detect and track the underwater pipeline online,and is effective and feasible.     

Effects of sampling frequency and laboratory detection limits on the determination of time series water quality trends

Time series trend analysis using the non‐parametric seasonal Kendall Sen Slope estimator and the seasonal Kendall trend test was conducted on a water‐quality data set (raw and flow adjusted) from part of the Wellington Regional Council's freshwater baseline water quality monitoring programme. The trend analysis was conducted a number of times to determine what effects changing the sampling frequency and detection limit may have on the overall result of the analysis. Results indicate that trends detected using a low detection limit are often not detected when a higher limit is adopted. This holds for upward and downward trends. Results also indicate that if the sampling frequency was changed from monthly to quarterly fewer trends were detected. The results also show that where the quarterly data shows a trend it is usually of a slightly different magnitude (slope) compared with the monthly data. This paper serves to illustrate the importance of considering detection limits of variables and sampling frequencies for state of the environment monitoring programmes.     

Radar backscatter from mechanically generated transient breakingwaves. I. Angle of incidence dependence and high resolution surfacemorphology

This paper describes the results of an experimental investigation of the microwave backscatter from several laboratory generated transient breaking waves. The breaking waves were generated mechanically in a 35 m×0.7 m×1.14 m deep wave tank, utilizing chirped wave packets spanning the frequency range 0.8-2.0 Hz. Backscatter measurements, were taken by a X/K-band (10.525 GHz, 24.125 GHz) continuous wave Doppler radar at 30°, 45°, and 60° angles of incidence, and at azimuth angles of 0° and 180° relative to the direction of wave propagation. Surface profiles were measured with a high-speed video camera and laser sheet technique. Specular facets were detected by imaging the surface from the perspective of the radar. The maximum radar backscatter occurred in the upwave direction prior to wave breaking, was nearly polarization independent and corresponded to the detection of specular facets on the steepened wave face. This peak radar backscatter was predicted through a finite conductivity corrected physical optics technique over the measured surface wave profiles. Post break backscatter was predicted using a roughness corrected physical optics technique and the small perturbation method, which was found to predict the returns for vertical polarization, but to under predict the horizontal returns     

Mosaic-based positioning and improved motion-estimation methods forautomatic navigation of submersible vehicles

Knowledge of the camera trajectory, which may be determined from the motions between consecutive frames of a video clip, can be used to register images for constructing image mosaics. We discuss a mosaic-based positioning framework for building photo-mosaics and concurrently utilizing them for improved positioning. In this approach, the mosaic is directly exploited in bounding the accumulation of position errors as we integrate the incremental motions of the camera. It is also shown that two earlier closed-form solutions for the estimation of motion directly from spatio-temporal image gradients, as for most gradient-based techniques based on the application of linear(ized) image motion constraint equations, are corrupted with systematic biases. These can be reduced significantly by incorporating the higher-order terms. We propose recursive methods to solve the new nonlinear constraint equations, and investigate the performance of the new solutions in a number of experiments with synthetic and real data     

Optical moorings-of-opportunity for validation of ocean color satellites

Buoy-mooring platforms are advantageous for time-series validation and vicarious calibration of ocean color satellites because of their high temporal resolution and ability to perform under adverse weather conditions. Bio-optical data collected on the Bermuda Testbed Mooring (BTM) were used for comparison with satellite ocean color data in an effort to further standardize sampling and data processing methods for high quality satellite-mooring comparisons. Average percentage differences between satellite-measured and mooring-derived water leaving radiances were about 20% at the blue wavelengths, decreasing to as low as 11% in the blue-green to green wavebands. Based on a series of data processing methods and analyses, recommendations concerning rigor of quality control for collected data, optimal averaging of high-frequency data, sensor self-shading wind corrections, and instrumentation placement requirements are given for the design and application of optical moorings for ocean color satellite validation. Although buoy-mooring platforms are considered to be among the very best methods to validate ocean color satellite measurements, match-up discrepancies due to water column variability and atmospheric corrections remain important issues.     

Performance evaluation of fixed-station sampling design for a fishery-independent survey with multiple objectives

Fixed-station sampling design was widely used in fishery-independent surveys because of its characteristics of convenient sampling station setting, but the non-probabilistic(fixed) nature made it more uncertainty of drawing inferences on population. The performance of fixed-station sampling design for multispecies survey has not been evaluated, and we are uncertain if the design could detect the temporal trends of different populations in multispecies fishery-independent survey. In this study, s...     

Tidal Reduction Method Based on Temporal Tidal Time-Difference Variations

Abstract

Technical developments in the positioning and depth detection fields have allowed for vast improvements in sounding results, but the effects of tidal reduction (TR) yet merit improvement; today, TR is the main factor that limits bathymetry precision. It is crucial to determine tidal time difference (TTD) between tidal gauges to conduct effective TTD-based TR. The influence of temporal TTD variations is usually ignored, and the temporal observation window to determine TTD is generally freely selected. In this study, temporal TTD variations were analyzed under the tidal constituent merging theory. Daily and hourly TTDs were compared and utilized to reduce the TR error during time difference method operation. At-sea experiments were conducted to contrast the effects of daily versus hourly TTDs on TR; the results indicate that hourly TTD is more precise and thus better suited to TR.     

Practical use of video imagery in nearshore oceanographic fieldstudies

An approach was developed for using video imagery to quantify, in terms of both spatial and temporal dimensions, a number of naturally occurring (nearshore) physical processes. The complete method is presented, including the derivation of the geometrical relationships relating image and ground coordinates, principles to be considered when working with video imagery and the two-step strategy for calibration of the camera model. The techniques are founded on the principles of photogrammetry, account for difficulties inherent in the use of video signals, and have been adapted to allow for flexibility of use in field studies. Examples from field experiments indicate that this approach is both accurate and applicable under the conditions typically experienced when sampling in coastal regions. Several applications of the camera model are discussed, including the measurement of nearshore fluid processes, sand bar length scales, foreshore topography, and drifter motions. Although we have applied this method to the measurement of nearshore processes and morphologic features, these same techniques are transferable to studies in other geophysical settings     

滩涂水边线Landsat-5影像提取方法

快速获取遥感影像水边线时空变化信息具有重要意义,滩涂水边线提取一直是遥感技术应用的难点问题。水边线在遥感影像上具有独特的空间关系与光谱特征。本文综合使用颜色模型变换法、信息熵计算法、最大类间方差法及边缘检测方法。以长江口崇明东滩为研究区,研究了Landsat-5卫星影像海陆对比度增强及不同尺度下的边缘提取,重点给出了基于热红外波段的水边线空间特征与光谱特征的计算方法,在面向对象技术框架下提出了一种顾及空间关系和光谱特征的遥感影像水边线快速提取方法。实验结果表明:(1)基于最大类间方差法的局部阈值分割法能够自动提取band 6的水边线,水边线连续、完整,空间信息丰富;(2)综合使用最佳指数法、离散度方法及颜色模型变换方法,能够有效增强海陆对比度,基于最大类间方差法的局部自适应Canny算子能够自动检测出增强后遥感影像高精度边缘;(3)利用水边线的空间关系和光谱特征,能够由计算机自动实现水边线的识别与连接工作;(4)本文提出的水边线提取方法速度快、自动化程度高,分别继承了阈值分割法的连续性强的优点和Canny算子定位精度高、细节呈现能力强的优势。研究结果对于海岸带动态变化、陆海相互作用机制、海岸带资源保护与开发及近海工程管理等研究具有重要的参考价值。     

滩涂水边线Landsat-5影像提取方法以长江口崇明东滩为例

快速获取遥感影像水边线时空变化信息具有重要意义,滩涂水边线提取一直是遥感技术应用的难点问题。水边线在遥感影像上具有独特的空间关系与光谱特征。本文综合使用颜色模型变换法、信息熵计算法、最大类间方差法及边缘检测方法。以长江口崇明东滩为研究区,研究了Landsat-5卫星影像海陆对比度增强及不同尺度下的边缘提取,重点给出了基于热红外波段的水边线空间特征与光谱特征的计算方法,在面向对象技术框架下提出了一种顾及空间关系和光谱特征的遥感影像水边线快速提取方法。实验结果表明：(1)基于最大类间方差法的局部阈值分割法能够自动提取band 6的水边线,水边线连续、完整,空间信息丰富;(2)综合使用最佳指数法、离散度方法及颜色模型变换方法,能够有效增强海陆对比度,基于最大类间方差法的局部自适应Canny算子能够自动检测出增强后遥感影像高精度边缘;(3)利用水边线的空间关系和光谱特征,能够由计算机自动实现水边线的识别与连接工作;(4)本文提出的水边线提取方法速度快、自动化程度高,分别继承了阈值分割法的连续性强的优点和Canny算子定位精度高、细节呈现能力强的优势。研究结果对于海岸带动态变化、陆海相互作用机制、海岸带资源保护与开发及近海工程管理等研究具有重要的参考价值。     

渤海湾海水光谱特性的数值分析

自然界各种物体，都有表征其自然属性的光谱特性。地物的光谱特性是遥感图象定性判读的依据之一，它作为一种遥感信息也直接用于定量测定和制图。 海水中悬浮物质的数量和性质影响海水的颜色和海水的光谱特性。反之，根据海水的光谱特性可以测定水中悬浮物质的数量和性质。1974年， S. D. Duntley首先从海洋叶绿素的光谱效应，提出根据海水的光谱反射率曲线，用卫星传感器测定水中叶绿素a 浓度的理论。1978年， R. W. Johnson 建立了航空遥感的光谱数据与沿岸带海洋叶绿素a 浓度之间的数学关系，并绘制了叶绿素a的分布图。1979年， R. W. Johnson建立了光谱数据与悬浮泥沙含量之间的数学关系，并绘制了悬浮泥沙的定量分布图，等等。本文的目的即是要建立一种方法，用国产101W光谱辐射计记录的遥感数据，计算海域悬浮泥沙、叶绿素a 浓度、水色等水质参数。 1980年5月16日至19日，由中国科学院组织，有中国科学院海洋研究所、国家海洋局第一海洋研究所、第二海洋研究所、交通部天津水运科学研究所、水利部天津水利科学研究所等单位参加，在天津塘沽的海河和蓟运河口进行津、渤地区第一次环境污染航空遥感监测联合试验。在此次试验中用机载101W光谱辐射计记录海水的光谱辐射曲线，作者以此计算海水的光谱反射率曲线，用逐次回归分析法建立海洋实测数据(悬浮泥沙、叶绿素a浓度、水色等)与海水光谱反射率数据之间的数学关系。实验基本是成功的，由回归方程计算的结果与海洋实测数据之间的相关系数约为0.7。如果对研究海域的每一个子域的辐射值作光谱扫瞄，作出定量的分布图也是可行的。     

Correcting underwater images distorted by surface waves

An experiment on the correction of underwater images distorted by waves at the air-water interface was conducted using a laboratory modeling installation intended for experimental examination of light and image transfer across a water surface covered with waves. A digital color camera was used for the simultaneous formation of the image of the underwater test object through the disturbed surface and of the superimposed glitter pattern. Both images are spectrally separated. Processing the glitter pattern makes it possible to obtain the values of the surface slopes at a limited number of points and to use these slopes for retrieval of image fragments. The total corrected image is formed by integration of about 300 partially corrected fragments. This image is close to that obtained through a wave-free water surface.     

High-frequency radars: physical limitations and recent developments

High-frequency (HF) radars based on ground-wave propagation are used for remotely sensing ocean surface currents and gravity waves. For some 20 years a number of systems have been developed taking advantage of improved electronics and computer techniques. However, the performance of these systems are limited by physical constraints, which are due to HF wave propagation and scattering as well as to the technical design of the measuring system. Attenuation of the HF ground-wave is strongly dependent on the radio frequency and sea-water conductivity. Experimental data confirm the predicted decrease of propagation range with decreasing conductivity. HF radar systems use different methods of spatial resolution both in range and azimuth. Range resolution by means of short pulses and frequency-modulated chirps is compared, as well as azimuthal resolution by means of beam forming and direction finding (phase comparison). The emphasis is placed on recent developments.     

基于镀铜镉柱海水中硝酸盐氮的检测技术的研究

镀铜镉柱还原——重氮偶氮染色法在检测海水领域具有重要的位置,算法的不断创新优化成为海水水质检测质量的的关键.本研究以硝酸钾作为标准溶液,海水作溶剂做相关实验,并且在实际海水检测应用中得到良好的效果.通过对实验原理的分析及实验过程的探究,确定了本研究的最佳还原与显色条件.并采用偏最小二乘法(partial least s...     

基于康达效应的海底集矿装置流场与集矿特性试验研究

海底集矿作为深海矿产资源开发的核心技术之一,直接影响到矿石采集效率和海底沉积物受扰动程度。基于康达效应的水力集矿装置因具有结构简单、可靠性高及对海床扰动小等优点,受到广泛关注。针对基于康达效应的水力集矿头模型进行3种类型的试验研究：1)利用粒子图像测速(PIV)技术测得集矿流场速度分布,试验发现流体质点在靠近凸曲面壁处流速和沿法线速度梯度较大,而远离凸曲面壁处则相反;2)通过高速摄像和图像处理获得球形矿粒运动轨迹和速度,试验发现了不同射流流速下5种典型矿粒运动形态;3)分析了射流流量对矿粒采集率的影响,试验得到了颗粒采集率关于射流流量的变化曲线,并根据变化特征划分为增长区、缓变区和跃升区。研究可为新式集矿装置的优化设计与性能分析提供参考。