CN106872468A - Laser differential imaging detection method and its device - Google Patents
Laser differential imaging detection method and its device Download PDFInfo
- Publication number
- CN106872468A CN106872468A CN201710017050.4A CN201710017050A CN106872468A CN 106872468 A CN106872468 A CN 106872468A CN 201710017050 A CN201710017050 A CN 201710017050A CN 106872468 A CN106872468 A CN 106872468A
- Authority
- CN
- China
- Prior art keywords
- bubble
- information frame
- frame
- laser
- detection method
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8405—Application to two-phase or mixed materials, e.g. gas dissolved in liquids
Abstract
A kind of laser differential imaging detection method and its device, the method are comprised the following steps：Using one arteries and veins of the frame Exposure mode of, Range-gated Imager obtains n, the area to be detected n frame retroreflection images of section；The n frames retroreflection image is divided into by m information frame and n m background frames according to gray threshold；Ask m information frame and background frames difference to obtain m m enhancement information frame of information frame, m enhancement information frame is divided into by k bubble information frame and m k fake information frames using the grader for training；K the gray average and MDL modulation delay of bubble information frame are calculated respectively, and fitting obtains spatial distribution curve of the bubble with time delay；Bubble Region scope and bubble yield are obtained according to the spatial distribution curve；Wherein, m, n, k are the natural number not less than 1.The present invention can accurately detect the scope and yield of Bubble Region, significant to bubble detection under water and analysis the characteristics of with high precision, strong adaptability and flexibility high.
Description
Technical field
The invention belongs to underwater optics technical field of imaging, relate more specifically to a kind of laser differential imaging detection method and
Its device.
Background technology
Bubble high accuracy, quick, quantitative detection have important meaning in terms of ship wake detection, cold seepage detection under water
Justice.By taking cold spring detection as an example, cold spring is the air-water mixture of seabed water, hydrocarbon and hydrogen sulfide etc., and the carbon to the whole world is followed
Ring and climate warming have a major impact, and the natural gas being stored in hydrate is future source of energy, so cold spring detection is for grinding
Study carefully influence of the cold spring gas to global warming and instruct the ocean aqueous vapor resources exploration there is important research meaning.
Bubble has the physical effects such as different sound, light under water, and bubble can be detected using these effects.Non-imaged
Lighting wake bubble detection is one of method of bubble detection, and it is according to bubble in certain angle reflection light intensity and the pass of bubble density
System, the anti-space distribution situation for releasing bubble, but bubble backscatter intensity are complicated with bubble diameter and Density Distribution relation, this
Problem as lighting wake detection, can only qualitatively judge bubble spatial distribution, it is impossible to accurate by the strong and weak of back reflected laser at present
Really detect the spatial distribution state and yield of bubble.Underwater optics imaging bubble detection is utilized at high speed photography and image
Reason technology is seriously influenceed to bubble motion and Study on regularity, but underwater optics imaging resolution by backscattering of ocean water,
Imaging resolution is low, operating distance is near, and larger by digital image processing techniques analysis bubble difficulty, is unsatisfactory for high-precision
Degree, the demand of quantitative detection.Multi-beam scanning sonar observation method can effectively observe certain marine site as bubble acoustic sounding method
The Three-Dimensional Dynamic distribution of bubble, but resolution ratio is low, although the presence or absence of bubble is may determine that, but is difficult to bubble yield and space
Distribution situation carries out detected with high accuracy.
In sum, the effective ways of the high-precision metrization detection of bubble are lacked at present.
The content of the invention
Based on problem above, it is an object of the invention to propose a kind of laser differential imaging detection method and its device, use
In at least one of solution above technical problem.
To achieve these goals, as one aspect of the present invention, the present invention proposes a kind of laser differential imaging and visits
Survey method, comprises the following steps：
Step 1, the Exposure mode using one, one arteries and veins of a frame, Range-gated Imager obtain n, the area to be detected n frames of section
Retroreflection image, wherein n are the natural number not less than 1；
Step 2, n frame retroreflection images are divided into by m information frame and n-m background according to gray threshold set in advance
Frame, wherein m are the natural number not less than 1；
Step 3, difference is asked m information frame and background frames to obtain m m enhancement information frame of information frame, using training
M enhancement information frame is divided into k bubble information frame and m-k fake information frame by the grader got well, and wherein k is oneself not less than 1
So count；
Step 4, respectively k the gray average and MDL modulation delay of bubble information frame of calculating, fitting obtain bubble with time delay
Spatial distribution curve；
Step 5, Bubble Region scope and bubble yield are obtained according to spatial distribution curve.
Further, above-mentioned bubble is MDL modulation delay with the abscissa of the spatial distribution curve of time delay, and ordinate is gray scale
Average.
Further, above-mentioned Bubble Region scope by bubble with the spatial distribution curve of time delay time delay initialization value τsAnd termination
Value τeObtain, its expression formula is：
Wherein, S is Bubble Region scope, and c is the light velocity, and n is medium refraction index, time delay initialization value τsFor on spatial distribution curve
The initial value for rising, time delay stop value τeFor the stop value that the spatial distribution curve declines.
Further, above-mentioned bubble yield is obtained with the spatial distribution curve of time delay by bubble to space integral：
Wherein, F is bubble yield, and ω is scale parameter, and z is space coordinates.
Further, the expression formula of the MDL modulation delay of above-mentioned k bubble is：
τk=τ0+tg(k-1)；
Wherein, τ0It is gating time delay set in advance, tgIt is gating gate-width.
Further, the calculating formula of the gray average of above-mentioned k bubble information frame is：
Wherein, M, N are the horizontal and vertical pixel number of each information frame, aijIt is laterally i-th, j-th pixel in longitudinal direction
The gray value of point.
Further, in above-mentioned steps 2, when the gray average of n-th frame retroreflection image is less than gray scale set in advance
During threshold value, n-th frame retroreflection image is classified as background frames；Set in advance when the gray average of n-th frame retroreflection image is more than
During fixed gray threshold, n-th frame retroreflection image is classified as information frame.
Further, the above-mentioned grader for training is instructed using HOG features by using supervised learning to SVM classifier
Get.
To achieve these goals, as another aspect of the present invention, the invention allows for a kind of laser differential into
As detection device, including
Imaging unit, irradiates region to be detected, and receive the reflected laser signals in region to be detected for sending laser beam
And generate reflected image；
Graphics processing unit, the reflected image for being generated to imaging unit carries out data processing；
Control unit, control imaging unit and graphics processing unit perform above-mentioned laser differential imaging detection method, by
This obtains the Bubble Region scope and bubble yield in region to be detected.
Further, above-mentioned imaging unit is equipped on submarine navigation device, and imaging unit includes a pulse laser, a gating
Image intensifier and time schedule controller, the gating gate-width for gating image intensifier meet bar with the laser pulse width of the pulse laser
Part tg≥10tl, the thickness of single section meets following condition in n section：
Wherein, tgIt is gating gate-width, tlIt is laser pulse width；
The translational speed of submarine navigation device, gated imaging frame frequency and the thickness of single section meets following bar in n section
Part：
Wherein, vBoatIt is the translational speed of the submarine navigation device, fFPSIt is gated imaging frame frequency.
Understand that detection method proposed by the present invention and its device have the advantages that based on above-mentioned technical proposal：
1st, the present invention can obtain bubble with prolonging due to the average gray using bubble information frame and MDL modulation delay matched curve
When spatial distribution state, the scope of bubble area can be calculated by the initial value and stop value of curve MDL modulation delay, by curve pair
The integration in space can estimate bubble yield, so, the present invention accurately have estimated gas using discrete spatial sampling gating section
The continuously distributed rule in space of bubble, and then the scope of bubble and yield can accurately be calculated, the method is provided for bubble detection
New approaches, are advantageously implemented the accurate measurement of bubble, have the advantages that strong adaptability, the degree of accuracy are high, workable.
2nd, the present invention gates slice imaging due to using Range-gated Imager method to bubble area spatial sampling, can press down
Water body back scattering processed, has the advantages that imaging resolution is high, detection range is remote；And the method for using background frame difference, can enter
One step reduces the back scattering noise of water body, and bubble weak signal is effectively amplified, and then information frame is strengthened acquisition enhancement information
Frame, so, the present invention is capable of achieving the accurately detecting to the micro- target of bubble.
3rd, the present invention is very narrow due to gating gate-width and laser pulse width, and the gating image intensifier time for exposure is extremely short, therefore
The motion blur because of submarine navigation device motion or the generation such as bubble floating upward quickly can be effectively eliminated, the resolution ratio of image and right is improved
Than degree, and bubble tiny dots target acquisition is converted into the face Detection Techniques of gradation of image average, enhances the stabilization of signal
Property.
Brief description of the drawings
Fig. 1 (a) is the interval interior back scattering of non-gated in range-gated imaging technique used in one embodiment of the invention
Noise returns to image device, the situation that storbing gate is closed；
Fig. 1 (b) is bubble backreflected signals light return image device, the feelings that storbing gate is opened in one embodiment of the invention
Shape；
Fig. 2 (a) is the signal of range gating bubble detection method detection background frames gating section in one embodiment of the invention
Figure；
Fig. 2 (b) is range gating bubble detection method detection bubble information frame gating section in one embodiment of the invention
Schematic diagram；
Fig. 3 is different zones target gating gradation of image and information type graph of a relation under one embodiment of the invention reclaimed water；
Fig. 4 is based on submarine navigation device bubble frame difference laser imaging method detection bubble under water in one embodiment of the invention
The flow chart of area's scope and bubble yield；
Fig. 5 is the schematic diagram for obtaining enhancement information frame in one embodiment of the invention by frame difference；
Fig. 6 be the bubble that is obtained according to bubble information frame average gray and MDL modulation delay fitting in one embodiment of the invention with
The spatial distribution curve synoptic diagram of time delay.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
The invention discloses a kind of laser differential imaging detection method, the method is comprised the following steps：
Step 1, the Exposure mode using one, one arteries and veins of a frame, Range-gated Imager obtain n, the area to be detected n frames of section
Retroreflection image, wherein n are the natural number not less than 1；
Step 2, n frame retroreflection images are divided into by m information frame and n-m background according to gray threshold set in advance
Frame, wherein m are the natural number not less than 1；
Step 3, difference is asked m information frame and background frames to obtain m m enhancement information frame of information frame, using training
M enhancement information frame is divided into k bubble information frame and m-k fake information frame by the grader got well, and wherein k is oneself not less than 1
So count；
Step 4, respectively k the gray average and MDL modulation delay of bubble information frame of calculating, fitting obtain bubble with time delay
Spatial distribution curve；
Step 5, Bubble Region scope and bubble yield are obtained according to spatial distribution curve.
Laser differential imaging detection method disclosed by the invention, it is adaptable to the scope and product of Ship Wake, cold spring bubble etc.
Raw amount detection.Fig. 1 (a) and Fig. 1 (b) is that the detection system for being equipped on submarine navigation device that Range-gated Imager method is used is illustrated
Figure, the system is main to be made up of pulse laser, gating image intensifier (ICCD) and time schedule controller, and it utilizes bubble reflected light
(see Fig. 1 (b)) is different with backscattering of ocean water noise (see Fig. 1 (a)) the arrival ICCD times, by the switch of storbing gate, makes gas
Bubble imaging in gating is interval, suppresses non-gated area's back scattering noise, so as to Bubble Region slice imaging, wherein laser pulse
Time delay between gate pulse is referred to as gating time delay.Because the density of bubble in different gating spaces is different, so retroreflection
Intensity is different, and the gray scale that image is shown as on image is different, is made the difference with background frames by a series of bubble area sectioning images
Point can make information frame strengthens, and bubble space distribution information is obtained indirectly.
The detection system for being equipped on submarine navigation device is detected along the z-axis direction, and Fig. 2 (a) is obtained for system to water body gated imaging
The schematic diagram of background frames is obtained, Fig. 2 (b) is the schematic diagram that system obtains information frame to bubble area gating slice imaging successively.Fig. 3
The relation of different zones target gating gradation of image and information type under water is shown, the average gray in general information area is much larger than
The average gray of water body back scattering background area, the threshold value I between themthMeet, Ith≥1.1Ibm, wherein IbmFor background area is selected
The average gray of logical sectioning image.Therefore when the average gray of spatial sampling gating section is more than IthWhen be information frame, otherwise be the back of the body
Scape frame, wherein information frame are divided into fake information frame and bubble information frame including pasture and water and the shoal of fish etc. again.
Fig. 4 is the flow chart for detecting Bubble Region scope and bubble yield under water, and submarine navigation device is according to the rail planned
Mark, detection system is pushed away to search coverage section using the gated fashion of one, one arteries and veins of a frame and swept, and gating gate-width is much larger than laser
Pulsewidth (tg≥10tl), which can effectively eliminate the motion blur of ROV and bubble, improve imaging frame frequency, and now gating is cut
Piece thickness D is approximately：
Wherein tgIt is gating gate-width, tlIt is laser pulse width, c is the light velocity, and n is medium refraction index.To ensure spatial sampling gating
Section can make bubble detection more accurate close over whole detection waters, and gating slice thickness D should meet：
Wherein vBoatIt is speed, the f of submarine navigation device movementFPSIt is gated imaging frame frequency.After having configured systematic parameter, system
To time delay τ0Place's slice thickness is the spatial sampling gating slice imaging of the water body of D.
Fig. 5 is the schematic diagram that enhancement information frame is obtained by frame difference, when by threshold value IthInformation frame and background is determined
After frame, subtracting background frames using information frame further reduces the back scattering of water body, improves picture contrast, obtains enhancement information
Frame Idiffi.By SVM classifier to enhancement information frame classification, the HOG features of difference enhancement information frame are extracted first, use supervision
The method of study is trained to SVM classifier, and enhancement information frame can be divided into bubble information frame and puppet by the grader for training
Information frame.It can be seen that with the change of the interval interior bubble density of gating, the gray scale of bubble information frame increases according to same rule
Or reduce.Due in small search coverage maritime interior waters background frames grey scale change very little, therefore it is any back of the body to carry out the background frames of difference
Scape frame；If search coverage is larger, in good time amendment background frames.
Bubble information frame average gray uses polynomial fitting curve schematic diagram with MDL modulation delay.Bubble information frame it is average
Gray scale ImkMeet：
Wherein M, N are the horizontal and vertical pixel number of each information frame, aijIt is horizontal i-th and j-th pixel in longitudinal direction
The gray value of point.In order to guarantee information frame backscatter intensity is only relevant with bubble density, with gated imaging apart from unrelated, therefore it is
System is using constant time lag τ0Slice imaging is gated to spatial sampling, completed to carry out curve fitting to the detection of bubble, it is necessary to
Time delay to bubble information frame is modulated, the MDL modulation delay τ of the i-th frameiMeet：
τi=τ0+tg(i-1) i=1,2,3 ...；(4)
Wherein τ0It is gating time delay, tgIt is gating gate-width, with τiAnd ImRespectively X and Y-axis matched curve obtain bubble with prolonging
When spatial distribution curve.
The starting point I that gray scale rises in spatial distribution curvemsIt is the original position of Bubble Region, the termination that curve gray scale declines
Point ImeIt is the end position of Bubble Region, then scope S in Bubble Region meets：
Wherein c is the light velocity, and n is medium refraction index.
If the Spatial Density Distribution of bubble is ρ (x, y, z), system is detected along the z-axis direction, bubble information frame gray average
It is f (τ) with MDL modulation delay matched curve, then f (τ) is proportional to the bubble density of x/y plane, has againSubstitute into f (τ)
Then：
It is the average retroreflection intensity of x/y plane bubble, then bubble yield F is：
Wherein ω is scale parameter.
The invention also discloses a kind of laser differential imaging detecting device, including
Imaging unit, irradiates region to be detected, and receive the reflected laser signals in region to be detected for sending laser beam
And generate reflected image；
Graphics processing unit, the reflected image for being generated to imaging unit carries out data processing；
Control unit, control imaging unit and graphics processing unit perform above-mentioned laser differential imaging detection method, by
This obtains the Bubble Region scope and bubble yield in region to be detected.
Laser differential imaging detection method proposed by the present invention and its device are carried out in detail below by way of specific embodiment
Describe in detail bright.
Embodiment
By taking unmanned autonomous navigation device AUV under water as an example, the present embodiment proposes a kind of laser differential imaging detection method, should
Method is comprised the following steps that：
Step 1, using Range-gated Imager method, configure rational gating parameter and systematic parameter, AUV by planning rail
Mark treats search coverage spatial sampling gating slice imaging, obtains n, the area to be detected n frame retroreflection images of section；
Step 2, according to pre-set gray threshold by n frame retroreflection images be divided into m information frame and n-m the back of the body
Scape frame；
Step 3, difference is asked m information frame and background frames to obtain m m enhancement information frame of information frame, using training
M enhancement information frame is divided into k bubble information frame and m-k fake information frame by good SVM classifier；
Step 4, the k gray average of bubble information frame is calculated according to formula (3), calculating k bubble according to formula (4) believes
The MDL modulation delay of frame is ceased, fitting obtains spatial distribution curve of the bubble with time delay；
Step 5, by described spatial distribution curve, Bubble Region scope is obtained according to formula (5), obtained according to formula (7)
Bubble yield.
Method in order to further illustrate the present embodiment, is given below an example.If gating gate-width tg=2ns, tl=
200ps, meets tg＞ ＞ tlRequirement, refractive index n takes 1.33, and gating slice thickness D=is can be calculated by formula (1)
22.56cm, the imaging frame frequency f of systemFPS=10, then the speed of detection v of AUV is can be calculated by formula (2)Boat=2.256m/s is (about
It is 4.4 sections).If gating time delay τ0=100ns, then draw seawater of the system to 11.28m 0.2256m by range gating principle
Space carries out gating slice imaging, when certain average gray cut into slices is more than IthWhen be information frame, otherwise be background frames.Information frame and
Background frames ask difference to obtain enhancement information frame, enhancement information frame input SVM classifier are obtained into bubble information frame, using formula
(3) the average gray I of bubble information frame is calculatedm, and according to time delay τ0It is modulated by formula (4) and obtains prolonging for every two field picture
When τi, by ImkAnd τiSpatial distribution curve f (τ) of the bubble with time delay is fitted, as shown in fig. 6, determining the initial value τ of curvesAnd end
Only value τe, calculate the distribution and yield of bubble respectively by formula (5), formula (7).
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only specific embodiment of the invention, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of laser differential imaging detection method, comprises the following steps：
Step 1, the Exposure mode using one, one arteries and veins of a frame, the n frames that Range-gated Imager obtains the n section in area to be detected are backward
Reflected image, wherein n are the natural number not less than 1；
Step 2, the n frames retroreflection image is divided into by m information frame and n-m background according to gray threshold set in advance
Frame, wherein m are the natural number not less than 1；
Step 3, ask the m information frame and background frames difference to obtain m enhancement information frame of the m information frame, use
The m enhancement information frame is divided into k bubble information frame and m-k fake information frame by the grader for training, and wherein k is not small
In 1 natural number；
Step 4, gray average and MDL modulation delay that the k bubble information frame is calculated respectively, fitting obtain the bubble with prolonging
When spatial distribution curve；
Step 5, Bubble Region scope and bubble yield are obtained according to the spatial distribution curve.
2. laser differential imaging detection method as claimed in claim 1, it is characterised in that the bubble with time delay space point
The abscissa of cloth curve is MDL modulation delay, and ordinate is gray average.
3. laser differential imaging detection method as claimed in claim 2, it is characterised in that the Bubble Region scope is by the gas
Steep the time delay initialization value τ with the spatial distribution curve of time delaysWith stop value τeObtain, its expression formula is：
Wherein, S is Bubble Region scope, and c is the light velocity, and n is medium refraction index, time delay initialization value τ0For on the spatial distribution curve
The initial value for rising, time delay stop value τeFor the stop value that the spatial distribution curve declines.
4. laser differential imaging detection method as claimed in claim 3, it is characterised in that the bubble yield is by the gas
Bubble is obtained with the spatial distribution curve of time delay to space integral：
Wherein, F is bubble yield, and ω is scale parameter, and z is space coordinates.
5. laser differential imaging detection method as claimed in claim 1, it is characterised in that the k Bubble modulation time delay
Expression formula is：
τk=τ0+tg(k-1)；
Wherein, τ0It is gating time delay set in advance, tgIt is gating gate-width.
6. laser differential imaging detection method as claimed in claim 1, it is characterised in that the ash of the k bubble information frame
Spend average calculating formula be：
Wherein, described M, N are the horizontal and vertical pixel number of each information frame, aijIt is laterally i-th, j-th pixel in longitudinal direction
The gray value of point.
7. laser differential imaging detection method as claimed in claim 6, it is characterised in that in the step 2, when described n-th
When the gray average of frame retroreflection image is less than the gray threshold set in advance, by the n-th frame retroreflection image
It is classified as background frames；When the gray average of the n-th frame retroreflection image is more than the gray threshold set in advance, by institute
State n-th frame retroreflection image and be classified as information frame.
8. laser differential imaging detection method as claimed in claim 1, it is characterised in that the grader for training is by adopting
SVM classifier is trained using HOG features with supervised learning and is obtained.
9. a kind of laser differential imaging detecting device, including
Imaging unit, irradiates region to be detected, and receive the reflected laser signals in region to be detected and give birth to for sending laser beam
Into reflected image；
Graphics processing unit, the reflected image for being generated to imaging unit carries out data processing；
Control unit, controls the imaging unit and graphics processing unit to perform as claimed in any of claims 1 to 8 in one of claims
Laser differential imaging detection method, thus obtains the Bubble Region scope and bubble yield in region to be detected.
10. laser differential imaging detecting device as claimed in claim 9, it is characterised in that the imaging unit is equipped on water
Lower ROV, the imaging unit includes a pulse laser, gating image intensifier and a time schedule controller, the gating picture
The gating gate-width of booster meets condition t with the laser pulse width of the pulse laserg≥10tl, it is single in the n section to cut
The thickness of piece meets following condition：
Wherein, tgIt is gating gate-width, tlIt is laser pulse width；
The translational speed of the submarine navigation device, gated imaging frame frequency and the thickness of single section in described n section meet with
Lower condition：
Wherein, vBoatIt is the translational speed of the submarine navigation device, fFPSIt is gated imaging frame frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710017050.4A CN106872468B (en) | 2017-01-10 | 2017-01-10 | Laser differential imaging detection method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710017050.4A CN106872468B (en) | 2017-01-10 | 2017-01-10 | Laser differential imaging detection method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106872468A true CN106872468A (en) | 2017-06-20 |
| CN106872468B CN106872468B (en) | 2019-09-03 |
Family
ID=59157425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710017050.4A Active CN106872468B (en) | 2017-01-10 | 2017-01-10 | Laser differential imaging detection method and device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106872468B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398986A (en) * | 2020-04-03 | 2020-07-10 | 中国科学院半导体研究所 | Frame correlation gating three-dimensional imaging method and system based on mark frame |
| CN111505659A (en) * | 2020-05-08 | 2020-08-07 | 中国科学院半导体研究所 | Underwater water body noise calculation three-dimensional imaging method and imaging system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0468175A2 (en) * | 1990-12-21 | 1992-01-29 | Kaman Aerospace Corporation | Imaging lidar system employing multipulse single and multiple range gating |
| EP1746438A2 (en) * | 2005-07-12 | 2007-01-24 | Northrop Grumman Corporation | Infrared laser illuminated imaging systems and methods |
| CN102736085A (en) * | 2012-06-21 | 2012-10-17 | 中国科学院半导体研究所 | Image target seeking laser imaging distance measurement method and device |
| CN105678744A (en) * | 2015-12-30 | 2016-06-15 | 中国科学院半导体研究所 | Adaptive MCP gain adjusting method for range-gating and autonomous imaging |
-
2017
- 2017-01-10 CN CN201710017050.4A patent/CN106872468B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0468175A2 (en) * | 1990-12-21 | 1992-01-29 | Kaman Aerospace Corporation | Imaging lidar system employing multipulse single and multiple range gating |
| EP1746438A2 (en) * | 2005-07-12 | 2007-01-24 | Northrop Grumman Corporation | Infrared laser illuminated imaging systems and methods |
| CN102736085A (en) * | 2012-06-21 | 2012-10-17 | 中国科学院半导体研究所 | Image target seeking laser imaging distance measurement method and device |
| CN105678744A (en) * | 2015-12-30 | 2016-06-15 | 中国科学院半导体研究所 | Adaptive MCP gain adjusting method for range-gating and autonomous imaging |
Non-Patent Citations (5)
| Title |
|---|
| A. IMMARCO等: "Underwater Detection And Classification System", 《PROC. SPIE 0007, UNDERWATER PHOTO》 * |
| LING WANG等: "Study on the backscattered light intensity to airborne laser range gated imaging", 《INTERNATIONAL SYMPOSIUM ON OPTOELECTRONIC TECHNOLOGY AND APPLICATION 2016》 * |
| PIERRE ANDERSSON等: "Long-range three-dimension sal imaging using range-gated laser radar image", 《OPTICAL ENGINEERING》 * |
| WANG XINWEI等: "Multi-pulse time delay integration method for flexible 3D super-resolution range-gated imaging", 《OPTICS EXPRESS》 * |
| 葛卫龙等: "距离选通水下成像中基于等水体后向散射光能量的目标搜索方法", 《红外与激光工程》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398986A (en) * | 2020-04-03 | 2020-07-10 | 中国科学院半导体研究所 | Frame correlation gating three-dimensional imaging method and system based on mark frame |
| CN111398986B (en) * | 2020-04-03 | 2023-06-20 | 中国科学院半导体研究所 | Frame correlation gating three-dimensional imaging method and imaging system based on mark frame |
| CN111505659A (en) * | 2020-05-08 | 2020-08-07 | 中国科学院半导体研究所 | Underwater water body noise calculation three-dimensional imaging method and imaging system |
| CN111505659B (en) * | 2020-05-08 | 2023-10-03 | 中国科学院半导体研究所 | Underwater dehydration body noise calculation three-dimensional imaging method and imaging system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106872468B (en) | 2019-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Ribas et al. | Underwater SLAM for structured environments using an imaging sonar | |
| Zimmer et al. | Three-dimensional beam pattern of regular sperm whale clicks confirms bent-horn hypothesis | |
| Huvenne et al. | Rovs and auvs | |
| ES2443033T3 (en) | Continuous monitoring of fish stocks and behavior on a continental shelf scale | |
| ES2398340T3 (en) | Procedure and apparatus for the detection and classification of an object that is in the water | |
| CN103477244B (en) | The structure change of detection submerged structure | |
| CN105738972B (en) | A kind of undersea detection system and undersea detection method | |
| Huy et al. | Object perception in underwater environments: a survey on sensors and sensing methodologies | |
| CN101762817A (en) | Laser imaging based high-resolution method for detecting micro-scale wave of sea wave | |
| KR101888171B1 (en) | Method and device for recognizing environment based on position information of unmanned surface vessel | |
| CN111505659B (en) | Underwater dehydration body noise calculation three-dimensional imaging method and imaging system | |
| US20040027919A1 (en) | Acoustical imaging interferometer for detection of buried underwater objects | |
| Thompson et al. | Efficient lidar-based object segmentation and mapping for maritime environments | |
| Lamarche et al. | Benthic habitat mapping | |
| CN106872468B (en) | Laser differential imaging detection method and device thereof | |
| Villar et al. | Pipeline detection system from acoustic images utilizing CA-CFAR | |
| Newhall et al. | A method of observing acoustic scattering and absorption by fish schools using autonomous underwater vehicles | |
| Muduli et al. | A Review On Recent Advancements In Signal Processing and Sensing Technologies for AUVs | |
| Savage | Underwater imaging gets clearer | |
| KR101696088B1 (en) | Method for recognizing object by ultrasound and apparatus therefor | |
| Chernook et al. | Oceanological monitoring of fishing areas using lidars | |
| Zwolak | Underwater objects’ detection system choice for harbor surveillance purposes | |
| Caiti et al. | Innovative technologies in underwater archaeology: field experience, open problems, and research lines | |
| Teague et al. | Exploring Offshore Hydrothermal Venting Using Low-Cost ROV and Photogrammetric Techniques: A Case Study from Milos Island, Greece | |
| Riegl et al. | Acoustic methods overview |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |