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.     

Determination of wind roughness characteristics based on an underwater image of the sea surface

The opportunities of diagnosing wind roughness with the help of underwater vision systems have been investigated. The model of the rough sea surface image observed from under water under conditions of natural illumination has been developed. It has been shown that the statistical processing of the image of a solar path which is formed as a result of light refraction at randomly irregular air-water interface allows one to define not only the slope variance and the curvature variance of the surface, but also the coefficient of spatial correlation of slopes. The algorithms for defining of characteristics of wind roughness on the basis of images of underwater solar path and the results of their testing using the data of numerical and natural experiments are given. It was found that waves of very small amplitude images with high contrast near borders of the Snell’s circle (the underwater image of the sky).     

Quantitative photogrammetric analysis of digital underwater videoimagery

This paper presents a photogrammetric model for digital underwater video imagery, which has been mostly applied to qualitative analysis in the marine environment. With this model, quantitative analysis of underwater images is possible, e.g., to locate positions, calculate sizes, and measure shapes of objects from image features. The underwater photogrammetric model is based on a three-dimensional optical ray tracing technique which rigorously models imaging systems with multilens configurations and multiple refractions. The calibration procedure with two independent phases has been proven to be efficient in simplifying the computation and improving the calibration accuracy. With the current imaging system configuration and photogrammetric model, an accuracy of 0.8 cm in lateral directions and 1.2 cm along the depth direction for objects located about 2-3 m from the camera system in the object space is attainable. A PC-based digital underwater photogrammetric prototype system has been developed to implement the underwater photogrammetric model     

基于MRF与引导滤波的声纳图像去噪方法

声纳具有对大范围水下场景探测的能力,一直以来都是水下设备感知外界环境的重要手段,但由于声纳图像分辨率低,海洋环境噪声干扰较为复杂,所以在诸多方面的应用都受到了限制。文中提出了一种基于马尔可夫随机场和引导滤波的声纳图像去噪与增强方法,使用马尔可夫随机场对声纳图像进行预分割,然后采用中值滤波方法对原始图像进行简单滤波处理,最后将该图像作为引导图像对马尔可夫随机场(Markov Random Field,MRF)分割后的图像进行引导滤波实现了对声纳图像的去噪与增强。该方法有效地去除了背景和影子内的噪声,对目标区域内部噪声起到了很好的抑制作用,消除了MRF分割产生的伪轮廓效应,具有较好的边界保持和增强效果。     

A hierarchical classification system for object recognition inunderwater environments

In this paper, a hierarchical system, in which each level is composed by a neural-based classifier, is proposed to recognize objects in underwater images. The system has been designed to help an autonomous underwater vehicle in sea-bottom survey operations, like pipeline inspections. The input image is divided into square regions (macro-pixels) and a neural tree is used to classify each region into different object classes (pipeline, sea-bottom, or anodes). Each macro-pixel is then analyzed according to some geometric and environment constraints: macro-pixels with doubt classification are divided into four parts and re-classified. The process is iterated until the desired accuracy is reached. Experimental results, which have been performed on a large set of real underwater images acquired in different sea environments, demonstrate the robustness and the accuracy of the proposed system     

基于MRF场的侧扫声呐图像分割方法

为了利用侧扫声呐进行水下目标自动探测和识别,首先必须将声呐图像分为目标高亮区、海底混响区和目标阴影区.由于声呐图像有强背景噪声,传统的图像分割方法显得无能为力,故采用基于MRF场的图像分割方法来准确地分割.根据侧扫声呐目标的成像特点,建立了分割的约束条件;利用阴影与目标的灰度均值比很小这一特点进行初始分割,然后根据分割后目标与阴影的宽度差来剔除虚假目标,由初始分割的结果求得MRF模型初始参数,再采用迭代条件估计得到最终的模型参数和准确的分割结果.由于考虑了相邻像素间的依赖关系,具有抗噪性强、分割效果好的优点,从理论上说是合理的.实测数据分析也证明了这种算法的优越性.     

3-D shape recovery of planar and curved surfaces from shading cuesin underwater images

Automatic construction of high-resolution topographical maps, or determining the shape of man-made objects, targets, and obstacles for localization, identification, and/or recognition, is an important capability in the application of autonomous or intelligent underwater vehicles. In this paper, we investigate the application of underwater image models for the reconstruction of three-dimensional object shapes from the shading cues in two-dimensional optical images. We first present the results of a sensitivity analysis in support of a simplified model for a Lambertian surface illuminated by a point source in an attenuating medium, proposed in earlier work. We then generalize a closed-form solution for planar scenes, previously proposed for negligible source-camera baseline, to the case where the baseline may be increased to minimize backscatter effects. For curved surfaces, we propose two techniques based on different iterative updating strategies to recursively improve the recovered surface shape. We study the performance of various methods using synthetic data and real images acquired under different turbidity conditions     

水下目标磁异常强度与质量磁化强度分析

提出水下磁性目标的磁异常强度和磁化强度计算模型,分析几种典型水下目标的磁异常强度和磁化强度,为水下磁探测技术设计、水下目标磁定位和磁异常定性分析提供了理论依据。     

Determination of the variance of rough water surface slopes by the distortion of Snell’s circle boundary

We studied the opportunities of diagnostic of the wind roughness by distortions of Snell’s circle boundary images, i.e., images of the sky observed from underwater through a rough water surface. Models of random realization and statistically average image of Snell’s circle which takes into account various condition of illumination (overcast sky, clear sky and isotropic distribution of sky radiance) have been developed. Formulas for definition of slope variance of the sea surface by distortion of Snell’s circle boundary for one-dimensional roughness have been received. Dependence of accuracy of definition of slope variance on time of image averaging, depth of receiver diving, wind speed, range of waves forming the roughness, have been analyzed by the method of computer modeling. It has been shown on the basis of numerical calculation and experimental data that waves with length from millimeters to meters can be shown in the image of Snell’s circle depending from depth of receiver diving, receiver resolution and water turbidity.     

Underwater Acoustic Image Transmission System Based on DSP

The underwater acoustic image transmission system based on the high-speed DSP device TMS320C549 has been studied.We use Goertzel algorithm for source decoding and MFSK for modulation.Turbo code is used for channel coding and decoding.The purpose is to implement underwater video image data transmission.     

智能潜器的集成仿真系统

本文介绍了智能潜器集成仿真系统的硬、软件结构．通过这一系统所展示的水下虚拟仿真环境能够在研究和开发智能潜器的控制体系结构、潜器载体的水动力学、信息融合和目标识别等工作中发挥巨大作用     

一种被动柔顺水下手爪的研究

本文设计一种用于水下搜索、抓取物体的机械手爪,该手爪为二指结构,集成了一套三自由度被动柔顺机构和两个接触传感器,可以适应与作业对象之间不同姿态的抓取,弥补了单自由度手爪作业能力的不足。     

一种新型水下声学浮标在目标探测中的应用

针对海上目标探测问题, 将矢量水听器和Argo浮标相结合, 可构建一种具有水中目标探测能力的新型水下声学浮标平台。该浮标平台可多次上浮和下潜, 具有在位时间长、隐蔽性能高、成本低等特点, 单台水下声学浮标即可实现海上目标探测, 利用多台水下声学浮标可快速形成大面积区域覆盖能力。为进一步验证水下声学浮标对海上目标探测性能, 2019年8月在南海海区开展了多台水下声学浮标海上试验, 数据处理结果表明: 南海夏季典型声速剖面下, 水下声学浮标对船长42m航速8.4kn的水面航船目标最远探测距离可达13.8km, 目标估计方位均方根误差最优可达5°, 在水面航船距离最近的1.9km处, 目标估计方位标准差可达2°。     

An inverse method for underwater bottom topography by using SAR imagery

I~IOXThe image technology of the synthetic aperture radar (SAR) is one of most important advances in spaceberne microwave remote sensing (Larson et al., 1976). It has extensive application in the ocean remote sensing, such as inversion of the sea subdue winds and currentS, reconstruction of underwater hatom topography and so on. Owing tO the high conductivity of sea water, an electromagnetic wave actually cannot penetrate into the sea water, with extremely smallPenetration depth (abbot 1 c…     

用合成孔径雷达图像反演浅海水下地形的一种方法

海流与海底地形的相互作用导致了海表面的粗糙起伏,从而引起对海面观测的雷达散射截面的变化。在浅海海流速度垂直分布廓线为均匀的假定下,由流体连续性方程和驰豫时间近似下流体力学弱相互作用的理论,已证明雷达散射截面的空间变化正比于海流方向上海流速度变化的梯度。研究了合成孔径雷达(SAR)对海面的观测图像在无槽道信息和海流方向预知条件下,提出用散射系数的二维相关函数确定海流方向。在海流速度和方向已知条件下,推导了由雷达散射截面的空间变化迭推反演浅海水下地形的公式,并研究了航天飞机SIR-CSAR在我香港特区海域的二维图像反演浅海水下地形的应用。     

西沙群岛造礁石珊瑚群落结构的再分析

近几年来,我们多次对西沙群岛珊瑚礁作了生态调查,对西沙群岛的岛、礁有了一定的认识,对造礁石珊瑚群落结构也进行了概括的报导[1],为了进一步认识和了解西沙群岛,我们又于1976年4—5月选择处于西沙群岛西南隅的沙岛——中建岛,和位于西沙群岛东北面绿树成林的赵树岛作重点解剖,对造礁石珊瑚群落结构做了进一步的分析,以期为发展和利用珊瑚礁做一点有用的工作。     

Shape from shading—a method of integration of sonar images and bathymetric data for ocean mapping

Shape from shading is one of the methods that derive geometric information of objects from analysis of monocular images. Application of this technique to underwater sonar images enables the conversion of imposed reflectance characteristics in sonar images to shape information, namely, slopes, about the seafloor surface. A combination of this shape information and available sparse distributed depth points results in improved dense bathymetric data.

The reconstruction of shape models of seafloor surfaces from sonar images is treated as an inverse problem and is solved by the regularization theory. Sparse gridded points are used for boundary constraints. The regularization is implemented as a relaxation procedure with a hierarchical structure of multiresolution grids.     

Image registration for the underwater inspection using the maximum a posteriori technique

Describes an image registration method for underwater inspection tasks. A remotely operated vehicle equipped with a video camera and a scanning sonar is used as the testbed vehicle. Each image of the underwater scene is saved along with the video camera's position and orientation. The images are then combined to create a large composite picture of the underwater structure being inspected. This method is based upon a maximum a posteriori estimation technique and provides smooth and robust estimates of image shifts. Our results demonstrate the feasibility of this highly promising underwater inspection procedure.     

Development of real-time acoustic image recognition system using by autonomous marine vehicle

Automation of complicated underwater tasks require acoustic image based object recognition. This paper presents an acoustic image based real-time object recognition system. We proposed an acoustic image predictor to estimate an object's shape in advance. Depending on the acoustic camera's position, the predictor generates optimal template for recognition. The proposed method is implemented in our autonomous marine vehicle. For real-time processing, efficient recognition strategies are addressed. The vehicle detects an object and localizes it for recognition. In the detection process, the acoustic image's specific characteristics are used as the detection cues. In the localization process, the vehicle's horizontal and vertical positioning strategies are described. Efficient template generation method to minimize computing power is addressed. This realizes real-time recognition using the vehicle. To estimate the proposed system's accuracy and reliability, a recognition test was carried out in the field. The vehicle successfully recognized two different objects with high accuracy.     

A New Video and Digital Camera System for Studies of the Dynamics of Microtopographic Features on Tidal Flats

A newly developed video and camera system for tidal flat microtopographic studies is presented. It consists of a SONY handy cam placed in an underwater housing mounted on a frame about 70?cm above the sediment surface. A rectangular surface area of 30?×40?cm is imaged by the camera. The camera records video sequences and/or digital images at predetermined time lapses. The total number of images is about 540, and a similar number of 10-second long video sequences can be recorded. The camera is programmed with a PC before deployment, and the total deployment time depends on the time lapse between recordings. The camera is connected to an external power supply (12?volt), and a halogen projector pointing towards the sediment surface ensures that the system is operable on a 24-hours scale. The system has been tested in the Danish Wadden Sea. It has proved to be a very useful tool in studies of topographic effects of erosion and deposition sequences, and for studies of benthic organisms-sediment interactions. The test site was further equipped with sensors for water and seabed measurements, which proved to be indispensable regarding the interpretation of recorded image time-series.