GB202020689D0 - 3-D imaging apparatus and method for dynamically and finely detecting small underwater objects - Google Patents

3-D imaging apparatus and method for dynamically and finely detecting small underwater objects

Info

Publication number
GB202020689D0
GB202020689D0 GBGB2020689.2A GB202020689A GB202020689D0 GB 202020689 D0 GB202020689 D0 GB 202020689D0 GB 202020689 A GB202020689 A GB 202020689A GB 202020689 D0 GB202020689 D0 GB 202020689D0
Authority
GB
United Kingdom
Prior art keywords
dynamically
imaging apparatus
detecting small
underwater objects
small underwater
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GBGB2020689.2A
Other versions
GB2593960A8 (en
GB2593960A (en
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hohai University HHU
Original Assignee
Hohai University HHU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hohai University HHU filed Critical Hohai University HHU
Publication of GB202020689D0 publication Critical patent/GB202020689D0/en
Publication of GB2593960A publication Critical patent/GB2593960A/en
Publication of GB2593960A8 publication Critical patent/GB2593960A8/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2518—Projection by scanning of the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
GB2020689.2A 2019-12-25 2020-12-29 3-D imaging apparatus and method for dynamically and finely detecting small underwater objects Pending GB2593960A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911357770.0A CN111090103B (en) 2019-12-25 2019-12-25 Three-dimensional imaging device and method for dynamically and finely detecting underwater small target

Publications (3)

Publication Number Publication Date
GB202020689D0 true GB202020689D0 (en) 2021-02-10
GB2593960A GB2593960A (en) 2021-10-13
GB2593960A8 GB2593960A8 (en) 2022-01-12

Family

ID=70397244

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2020689.2A Pending GB2593960A (en) 2019-12-25 2020-12-29 3-D imaging apparatus and method for dynamically and finely detecting small underwater objects

Country Status (2)

Country Link
CN (1) CN111090103B (en)
GB (1) GB2593960A (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112991532A (en) * 2021-03-18 2021-06-18 中国海洋大学 Underwater high-precision three-dimensional reconstruction method based on photometric stereo method and laser triangulation method
CN112991533A (en) * 2021-03-18 2021-06-18 中国海洋大学 Rotating underwater object three-dimensional reconstruction method based on laser triangulation
CN113450374A (en) * 2021-06-25 2021-09-28 山东航天电子技术研究所 Automatic real-time three-dimensional measurement method for underwater target based on laser imaging
CN113899319A (en) * 2021-09-29 2022-01-07 上海交通大学 Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly
CN113960564A (en) * 2021-09-17 2022-01-21 上海大学 Laser comprehensive reference system for underwater detection and distance measurement and calibration method
CN114111628A (en) * 2021-12-07 2022-03-01 西安理工大学 Three-dimensional reconstruction algorithm for underwater target laser point cloud data
CN115049698A (en) * 2022-08-17 2022-09-13 杭州兆华电子股份有限公司 Cloud picture display method and device of handheld acoustic imaging equipment
CN116206070A (en) * 2023-05-05 2023-06-02 中国海洋大学 Hull underwater imaging method based on machine binocular vision and underwater robot
CN116595119A (en) * 2023-07-17 2023-08-15 广东省通信产业服务有限公司 Definition and intrusion identification method of shape-adaptive equidistant expansion forbidden zone safety line
CN117456108A (en) * 2023-12-22 2024-01-26 四川省安全科学技术研究院 Three-dimensional data acquisition method for line laser sensor and high-definition camera

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US11710245B2 (en) * 2020-02-25 2023-07-25 Jack Wade Real-time marine snow noise removal from underwater video
CN111722241B (en) * 2020-05-18 2023-09-05 深圳奥锐达科技有限公司 Multi-line scanning distance measuring system, method and electronic equipment
CN111751839B (en) * 2020-06-30 2022-03-25 博雅工道（北京）机器人科技有限公司 Underwater intelligent scanning differential laser ruler
CN112284294A (en) * 2020-09-27 2021-01-29 浙江大学 Underwater multiband cross linear array laser three-dimensional scanning system
CN112161574B (en) * 2020-10-12 2021-07-16 昆明理工大学 Three-dimensional measurement system and measurement method based on divergent multi-line laser projection
CN114915335B (en) * 2021-02-10 2023-11-10 深南电路股份有限公司 Polarity test method and device based on wavelength division multiplexing
CN113252784B (en) * 2021-05-12 2024-04-19 杭州仁牧科技有限公司 Acoustic signal finished product inspection system based on ship and quick inspection method thereof
CN113137920B (en) * 2021-05-19 2022-09-23 重庆大学 Underwater measurement equipment and underwater measurement method
CN113596298B (en) * 2021-07-19 2022-08-02 大连海事大学 Underwater laser synchronous field scanning imaging device and method
CN114087932B (en) * 2021-09-03 2023-09-01 南京理工大学 Kalman filtering and ballistic equation fusion-based three-dimensional ballistic fitting method in water
CN114200463B (en) * 2021-12-09 2023-05-23 青岛图海纬度科技有限公司 Underwater laser scanning equipment
CN114485613B (en) * 2021-12-31 2024-05-17 浙江大学海南研究院 Positioning method for multi-information fusion underwater robot
CN114609591B (en) * 2022-03-18 2022-12-20 湖南星晟智控科技有限公司 Data processing method based on laser point cloud data

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CN2530273Y (en) * 2002-01-10 2003-01-08 青岛海洋大学 Underwater laser line crossing scanning imaging device
JP2005141433A (en) * 2003-11-05 2005-06-02 Mhi Environment Engineering Co Ltd Three-dimensional virtual reality simulator
US7796809B1 (en) * 2003-12-15 2010-09-14 University Of South Florida 3-D imaging system with pre-test module
CN101000233A (en) * 2007-01-17 2007-07-18 曲兆松 Underwater 3D topographic surveying system
PT2909808T (en) * 2012-10-17 2020-05-06 Cathx Res Ltd Improvements in and relating to processing survey data of an underwater scene
CN103616697B (en) * 2013-12-05 2015-12-02 哈尔滨工程大学 A kind of intelligent underwater laser detection system
CN103913734A (en) * 2014-03-28 2014-07-09 中国科学院上海技术物理研究所 Non-cooperative target laser-bounce projection center alignment method
CN103971406B (en) * 2014-05-09 2017-12-08 青岛大学 Submarine target three-dimensional rebuilding method based on line-structured light
WO2016024026A1 (en) * 2014-08-15 2016-02-18 Fugro N.V. Underwater laser based modeling device
CN104793619B (en) * 2015-04-17 2018-02-09 上海交通大学 Based on the warehouse tunnel automatic guide vehicle guider for swinging single line laser radar
CN105654549B (en) * 2015-12-31 2018-05-15 中国海洋大学 Underwater 3 D reconstructing device and method based on structured light technique and photometric stereo
CN106780725B (en) * 2016-12-23 2018-07-06 西安交通大学 A kind of binocular three-dimensional reconstructing method and system
CN206627629U (en) * 2017-03-13 2017-11-10 湖北大学 A kind of simple fish finder based on PSD
CN107167073A (en) * 2017-05-18 2017-09-15 浙江四点灵机器人股份有限公司 A kind of three-dimensional rapid measurement device of linear array structure light and its measuring method
CN107063129B (en) * 2017-05-25 2019-06-07 西安知象光电科技有限公司 A kind of array parallel laser projection three-dimensional scan method
CN107907048A (en) * 2017-06-30 2018-04-13 长沙湘计海盾科技有限公司 A kind of binocular stereo vision method for three-dimensional measurement based on line-structured light scanning
CN107478203B (en) * 2017-08-10 2020-04-24 李�杰 3D imaging device and imaging method based on laser scanning
CN207752152U (en) * 2018-02-02 2018-08-21 保定市天河电子技术有限公司 High frequency lasers radar
CN109059873A (en) * 2018-06-08 2018-12-21 上海大学 Underwater 3 D reconstructing device and method based on light field multilayer refraction model
CN109282743A (en) * 2018-07-30 2019-01-29 上海大学 It is suitble to the laser high-speed line of deep sea in-situ measurement to scan binocular vision three-dimensional imaging device
CN109367706B (en) * 2018-10-26 2019-07-12 河海大学 A kind of unmanned boat actively captures the device and method of underwater unmanned vehicle in the water surface
CN208907956U (en) * 2018-11-21 2019-05-28 中国海洋大学 Three-dimensional reconstruction system under a kind of remote-controlled water
CN109709574B (en) * 2019-01-09 2021-10-26 国家海洋局第一海洋研究所 Seabed microtopography laser scanning imaging system and three-dimensional terrain reconstruction method
CN110044300B (en) * 2019-01-22 2024-04-09 中国海洋大学 Amphibious three-dimensional vision detection device and detection method based on laser
CN110223379A (en) * 2019-06-10 2019-09-10 于兴虎 Three-dimensional point cloud method for reconstructing based on laser radar

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112991532B (en) * 2021-03-18 2022-03-22 中国海洋大学 Underwater high-precision three-dimensional reconstruction method based on photometric stereo method and laser triangulation method
CN112991533A (en) * 2021-03-18 2021-06-18 中国海洋大学 Rotating underwater object three-dimensional reconstruction method based on laser triangulation
CN112991532A (en) * 2021-03-18 2021-06-18 中国海洋大学 Underwater high-precision three-dimensional reconstruction method based on photometric stereo method and laser triangulation method
CN112991533B (en) * 2021-03-18 2022-06-10 中国海洋大学 Rotating underwater object three-dimensional reconstruction method based on laser triangulation
CN113450374A (en) * 2021-06-25 2021-09-28 山东航天电子技术研究所 Automatic real-time three-dimensional measurement method for underwater target based on laser imaging
CN113960564A (en) * 2021-09-17 2022-01-21 上海大学 Laser comprehensive reference system for underwater detection and distance measurement and calibration method
CN113899319B (en) * 2021-09-29 2022-08-02 上海交通大学 Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly
CN113899319A (en) * 2021-09-29 2022-01-07 上海交通大学 Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly
CN114111628A (en) * 2021-12-07 2022-03-01 西安理工大学 Three-dimensional reconstruction algorithm for underwater target laser point cloud data
CN115049698A (en) * 2022-08-17 2022-09-13 杭州兆华电子股份有限公司 Cloud picture display method and device of handheld acoustic imaging equipment
CN115049698B (en) * 2022-08-17 2022-11-04 杭州兆华电子股份有限公司 Cloud picture display method and device of handheld acoustic imaging equipment
CN116206070A (en) * 2023-05-05 2023-06-02 中国海洋大学 Hull underwater imaging method based on machine binocular vision and underwater robot
CN116595119A (en) * 2023-07-17 2023-08-15 广东省通信产业服务有限公司 Definition and intrusion identification method of shape-adaptive equidistant expansion forbidden zone safety line
CN116595119B (en) * 2023-07-17 2023-09-19 广东省通信产业服务有限公司 Definition and intrusion identification method of shape-adaptive equidistant expansion forbidden zone safety line
CN117456108A (en) * 2023-12-22 2024-01-26 四川省安全科学技术研究院 Three-dimensional data acquisition method for line laser sensor and high-definition camera
CN117456108B (en) * 2023-12-22 2024-02-23 四川省安全科学技术研究院 Three-dimensional data acquisition method for line laser sensor and high-definition camera

Also Published As

Publication number Publication date
GB2593960A8 (en) 2022-01-12
CN111090103B (en) 2021-03-02
CN111090103A (en) 2020-05-01
GB2593960A (en) 2021-10-13

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