CN109031319A - A kind of side-scanning sonar image splicing system and its method - Google Patents
A kind of side-scanning sonar image splicing system and its method Download PDFInfo
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- CN109031319A CN109031319A CN201810831953.0A CN201810831953A CN109031319A CN 109031319 A CN109031319 A CN 109031319A CN 201810831953 A CN201810831953 A CN 201810831953A CN 109031319 A CN109031319 A CN 109031319A
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
Abstract
The invention discloses a kind of side-scanning sonar image splicing system and its methods.Present system includes: attitude transducer, GPS, computer, cradle head controllor, the sonar being fixed on the holder bracket of hull side.Its joining method step are as follows: read sonar file data；Handle track line data；Scan line grouping；Bitmap range and pixel position determine；Scan line arrangement mode is handled, image coordinate is subjected to affine transformation.Present invention combination GPS information and Attitude information, realize the seamless spliced of side-scanning sonar image, improve the adaptability of splicing speed and system, reduce the cost of system.
Description
Technical field
The invention belongs to acoustic picture splicing fields, and in particular to a kind of side-scanning sonar image splicing system and its side
Method.
Background technique
In recent years for the economic value that ocean is contained gradually by the attention of the mankind, the mankind are further to the exploitation dynamics of ocean
It increases, needs comprehensively to understand entire ocean topography and geomorphology, could effectively marine resources be explored and be developed.
Current marine charting technology relies primarily on sonar detection technology, and side-scan sonar is a kind of active sonar, anti-using seabed
The acquisition to the topography and geomorphology information in seabed is realized to scattering.
Side scan sonar system is divided into unilateral and two kinds of bilateral according to the configuration of detection energy converter, and sonar is placed with suspension and drags
The modes such as drag, used at present is bilateral pull-type side scan sonar system mostly.Bilateral pull-type side scan sonar system needs to tie
Towfish is closed, hardware cost is higher.Wherein, sonar is using hang, cannot be according to practical feelings although mechanical erection is simple
Condition is adjusted and obtains sonar exact posture information.
In optical imagery, for image mosaic processing, generally by the way of based on characteristic point, technology more at
It is ripe.But the characteristic point as contained by sonar image is fewer, so the splicing of sonar image is different from general optical image security,
The coordinate information for making full use of the acquired sonar of GPS is needed to carry out image mosaic.
Since GPS positioning is inaccurate and abnormal jump etc. is unstable etc., factors exist, after causing side-scanning sonar image to be inlayed not
There are gaps and overlapping cases avoidablely, therefore can not obtain accurate sea-floor relief image.Currently, to the ground of side-scan sonar
The main a little processing of reason coding and dough sheet handle two ways.Because GPS sample rate and echo samples rate are asynchronous, a plurality of
Scan line may correspond to same GPS information, and the difference that point processing and dough sheet are handled is how to solve this many-to-one relationship.
Point processing is, in conjunction with front and back GPS information, to calculate the geographic coordinate information of every scan line, most by smooth track
The pixel value of each pixel is mapped to corresponding coordinate position afterwards.Point processing is handled for each pixel, calculation amount
It is larger.Dough sheet processing is that will have the scan line of identical GPS information as a whole, by rotating, being moved in translation corresponding coordinate
Position, slotted section carry out interpolation, and lap is merged.Dough sheet processing be for rectangular image dough sheet handle, first into
Secondly line distortion correction carries out translation, rotation above geometry to dough sheet, finally considers further that gap and lap content, walk
It is rapid cumbersome.
Summary of the invention
Present invention aims to overcome that defect of the existing technology, provide a kind of side-scanning sonar image splicing system and its
Method.Its system structure is simple, at low cost.Pass through the pose adjustment to holder bracket, it can be directed to actual conditions adjustment sound
Receive placement angle and positioned at water-bed depth.And only continuous whole sonar chart need to can be obtained by the processing to coordinate
Picture, the connecting method are easy, efficient.
In order to solve the above technical problems, the present invention uses following technical scheme.
A kind of side-scanning sonar image splicing system of the invention characterized by comprising
Sonar, attitude transducer, GPS, holder bracket, cradle head controllor, computer；
By network communication, attitude transducer, GPS and cradle head controllor pass through serial ports respectively and calculate for sonar and computer
Machine is connected, and holder bracket is connect with cradle head controllor by serial ports；
The attitude transducer is installed aboard ship, for measuring the posture of hull；
The GPS be fixedly mounted aboard ship, for recording boat real time position and to obtain sonar signal launch point real-time
Location information；
The holder bracket is fixedly installed on the outer side of hull and is immersed in the water；The sonar is set to holder bracket
On, for receiving and dispatching acoustic signal；
The cradle head controllor is set in cabin, for controlling the posture of holder bracket；
The computer includes upper computer and lower computer, is all set in cabin, for number acquired in integrated treatment
It is believed that breath.
Further, the holder bracket is under cradle head controllor control, adjustable vertical height and rotation angle,
To make depth in the pitch angle and water for the sonar being set on holder bracket be changed.
Further, the holder support configuration has sounding instrument equipment, for recording sonar range bottom depth at any time
With sonar pitch angle.
Preferably, the setting of the sonar should meet claimed below: the wave beam transmit-receive position and ship of sonar navigate by water direction
It is mutually perpendicular to.
Preferably, the attitude transducer is mounted on hull axis line position.
Preferably, the GPS is arranged on the boat deck ipsilateral with sonar position.
A kind of side-scanning sonar image joining method of the invention, which comprises the following steps:
(1) image data in sonar file is read using computer upper computer software, shows sonar waterfall image, and to figure
As being pre-processed.Its process are as follows:
(1.1) gaussian filtering smoothed image is utilized, the Gaussian noise in sonar image is removed；
(1.2) gray scale stretching mode is used, the contrast of sonar image is improved；
(1.3) image is subjected to oblique distance correction, adjusts sonar image lateral dimension, process are as follows:
If maximum oblique distance range is SlantRange, every ping sonar is High, unilateral sonar image away from water-bed height
Width be Width, the horizontal distance of every ping is formula (1):
The pixel resolution of image is formula (2) at this time:
Res=SlantRange/width (2)
At this point, any one pixel P on correction image1(x1,y1) and the original corresponding pixel points P not corrected on image2
(x2,y2) relationship be formula (3):
(2) computer upper computer software is utilized, GPS latitude and longitude information, ship's speed information and course angle information are successively read, it will
Latitude and longitude coordinates are converted to Universal Transverse Mercator Projection system coordinates, draw track line, smooth track data.
(3) according to GPS information, scan line is saved as a whole, the scan line integrally saved is known as histogram
Picture；Meanwhile according to GPS coordinate information, the band image coordinate of sonar is updated.Its process are as follows:
(3.1) according to system parameter, signal echo dot position information is calculated；
Assuming that sonar reception delay is delay, the underwater velocity of sound is C, then the distance of every frame data near point echo are as follows:
Lmin=delay*C/2 (4)
Assuming that sampling number is N, sample frequency Fs, then every frame data length is formula (5):
Ldata=N/Fs*C/2 (5)
(3.2) scan line can be grouped in two ways: the scan line with identical GPS information is protected as a whole
Deposit, or by course angle judge the segment for direct route section after, will in the segment limit with different GPS informations scan line as
It is whole to save.
(4) pixel coordinate position of painting canvas range and band image in painting canvas is determined:
The regional scope of sonar image is determined according to actual geographic coordinate, which is determined by a boundary rectangle；
The coordinate in the upper left corner and bottom right angle point that enable the rectangular area is respectively (lx, ly) and (rx, ry), image resolution ratio in computer
For resolution, then the width of painting canvas and high calculation such as formula (6) are shown:
Actual geographic coordinate is (x0, y0), shown in pixel screen coordinate (x ', y ') expression formula such as formula (7):
(5) sonar image is projected into two-dimensional surface, band image shape is adjusted by affine transformation, is made between band image
Close-packed arrays；Image is handled by gray scale stretching mode, balanced sonar brightness of image completes splicing.The specific steps are that:
(5.1) by adjusting band image real coordinate position, i.e. adjustment adjacent ribbons picture position, arrange it closely
Column；
(5.2) band image is diagonally bisected into two triangles, calculates splicing front and rear coordinate using affine transformation
Then pixel value is assigned to corresponding coordinate using transformation relation by transformation relation.
Compared with prior art, the invention has the advantages that and the utility model has the advantages that
(1) by the pose adjustment to holder bracket, for actual conditions adjustment sonar placement angle and the bottom can be arrived
Depth；
(2) by shape of rectangular ribbon image, diagonally triangle is divided into splice, directly utilizes the affine transformation of image, just
It can be omitted the work such as picture size correction, filling chink and overlapping fusion；
(3) it is improved efficiency due to the extra workloads such as filling up without gap so the present invention can save the time；
(4) present invention effectively eliminates the various gaps generated since scan line distribution is uneven；
(5) inventive algorithm structure is simply clear, and it is convenient to realize.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of side-scanning sonar image splicing system of the present invention.
Fig. 2 is that the scan line of one embodiment of the invention puts figure.
Fig. 3 is the flow chart of one embodiment of side-scanning sonar image joining method of the present invention.
Fig. 4 a- Fig. 4 c is that the adjacent ribbons of one embodiment of the invention put schematic diagram respectively.Wherein, Fig. 4 a is gap,
Fig. 4 b is that bottom edge is underlapped, and Fig. 4 c is bottom edge overlapping.
Fig. 5 is that the band of one embodiment of the invention is divided into axonometric projection.
Fig. 6 is the gap processing figure of one embodiment of the invention.
Fig. 7 is the overlap processing figure of one embodiment of the invention.
Fig. 8 is the sonar working principle diagram of one embodiment of the invention.
Wherein, 1 side-scan sonar, 2 attitude transducers, 3 be GPS sensor, 4 holder brackets, 5 cradle head controllors, 6
Computer.
Specific embodiment
More detailed description is done to the present invention with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of one embodiment of side-scanning sonar image splicing system of the present invention.The embodiment of the present invention
System includes: sonar, attitude transducer, GPS, holder bracket, cradle head controllor, computer.
By network communication, attitude transducer, GPS and cradle head controllor pass through serial ports respectively and calculate for sonar and computer
Machine is connected, and holder bracket is connect with cradle head controllor by serial ports.
The attitude transducer is installed belowdecks, for measuring the posture of hull.Preferably, posture sensing
Device is mounted on hull axis line position.
The GPS is set in cabin, for recording boat real time position and obtain the real-time position of sonar signal launch point
Confidence breath.Preferably, the GPS is arranged on the boat deck ipsilateral with sonar position.
The holder bracket is fixedly installed on the outer side of hull and is immersed in the water；The sonar is set to holder bracket
On, for receiving and dispatching acoustic signal；The outer side of the hull refers to the either side of outboard or so.Preferred sonar riding position is answered
Meet claimed below: the wave beam transmit-receive position of sonar is mutually perpendicular to ship navigation direction.
The cradle head controllor is set in cabin, for controlling the posture of holder bracket.The holder bracket exists
Under cradle head controllor control, adjustable vertical height and rotation angle, thus, make bowing for the sonar being set on holder bracket
Depth is changed in elevation angle degree and water.
It is also configured with sounding instrument equipment on the holder bracket, for recording sonar range bottom depth and sonar at any time
Pitch angle.
The computer includes upper computer and lower computer, is all set in cabin, for number acquired in integrated treatment
It is believed that breath.
Before sonar transducer array work, needs to combine actual needs, sonar system parameter is set.The parameter includes: signal
Type, signal frequency, sample frequency, transmitting-receiving time delay etc..The collected every frame data of sonar transducer array institute, all with GPS sensor and
The collected data of attitude transducer combine.Image data makes full use of geographic coordinate data, accurately completes geographical coordinate figure
As splicing.
Computer receives following information:
(1) GPS information is read from serial ports；
(2) the Attitude information that attitude transducer is sent is read from serial ports；
(3) posture information and sonar for reading cradle head controllor feedback from serial ports are away from water-bed real-time range；
(4) sonar echo information is read from network.
Fig. 2 is that the scan line of one embodiment of the invention puts figure.As shown in Fig. 2, when sonar is set on the left of hull,
Scan line is in the left side of track line.S is signal launch point, and AB is its corresponding scan line.
Fig. 3 is the flow chart of one embodiment of side-scanning sonar image joining method of the present invention.As shown in figure 3, of the invention
Embodiment method includes the following steps:
1. reading image data in sonar file using computer upper computer software, sonar waterfall image is shown, and to figure
As being pre-processed.Its process are as follows:
1.1. gaussian filtering smoothed image is utilized, the Gaussian noise in sonar image is removed；
1.2. gray scale stretching mode is used, the contrast of sonar image is improved；
1.3. image is subjected to oblique distance correction, adjusts sonar image lateral dimension, process are as follows:
If maximum oblique distance range is SlantRange, every ping sonar is High, unilateral sonar image away from water-bed height
Width be Width, the horizontal distance of every ping is formula (1):
The pixel resolution of image is formula (2) at this time:
Res=SlantRange/width (2)
At this point, any one pixel P on correction image1(x1,y1) and the original corresponding pixel points P not corrected on image2
(x2,y2) relationship be formula (3):
2, using computer upper computer software, it is successively read GPS latitude and longitude information, ship's speed information and course angle information, it will
Latitude and longitude coordinates are converted to Universal Transverse Mercator Projection system coordinates, draw track line, smooth track data.
In conjunction with GPS information, echo point real coordinate position is calculated, for updating GPS coordinate parameter.
Using the smooth track data of sliding window mode, the accidental trip point of GPS coordinate is rejected.Sliding window detailed process is: with adjacent
5 GPS coordinate points be one group, average respectively to horizontal, ordinate of orthogonal axes, for updating the GPS coordinate of first point, under selection
One group of coordinate repeats aforesaid way and updates GPS coordinate.
3, according to GPS information, scan line is saved as a whole, the scan line integrally saved is known as histogram
Picture；Meanwhile according to GPS coordinate information, the band image coordinate of sonar is updated.Its process are as follows:
3.1. according to system parameter, signal echo dot position information is calculated；
Assuming that sonar reception delay is delay, the underwater velocity of sound is C, then the distance of every frame data near point echo are as follows:
Lmin=delay*C/2 (4)
Assuming that sampling number is N, sample frequency Fs, then every frame data length is formula (5):
Ldata=N/Fs*C/2 (5)
3.2. scan line can be grouped in two ways: the scan line with identical GPS information is protected as a whole
Deposit, or by course angle judge the segment for direct route section after, will in the segment limit with different GPS informations scan line as
It is whole to save.
4, (4) determine the pixel coordinate position of painting canvas range and band image in painting canvas:
The regional scope of sonar image is determined according to actual geographic coordinate, which is determined by a boundary rectangle；
The coordinate in the upper left corner and bottom right angle point that enable the rectangular area is respectively (lx, ly) and (rx, ry), image resolution ratio in computer
For resolution, then the width of painting canvas and high calculation such as formula (6) are shown:
Actual geographic coordinate is (x0,y0), shown in pixel screen coordinate (x ', y ') expression formula such as formula (7):
5. sonar image is projected to two-dimensional surface, band image shape is adjusted by affine transformation, is made between band image
Close-packed arrays；Image is handled by gray scale stretching mode, balanced sonar brightness of image completes splicing.The specific steps are that:
5.1. by adjusting band image real coordinate position, i.e. adjustment adjacent ribbons picture position, make its close-packed arrays；
5.2. band image is diagonally bisected into two triangles, calculates splicing front and rear coordinate using affine transformation and becomes
Relationship is changed, pixel value is then assigned to corresponding coordinate using transformation relation.
Fig. 4 a- Fig. 4 c is that the adjacent ribbons of one embodiment of the invention put schematic diagram respectively.Wherein, Fig. 4 a is gap,
Fig. 4 b is that bottom edge is underlapped, and Fig. 4 c is bottom edge overlapping.As shown in Fig. 4 a- Fig. 4 c, according to band image pixel coordinate, adjacent strip
There are such three kinds of states in the relative position that band is put.Figure (a) is that front and back interband is not overlapped, and figure (b) is front and back interband weight
It is folded, but rectangle ABCD's is be overlapped when CD is not with a upper rectangle AE, and figure (c) is with the difference for scheming (b), rectangle ABCD's
It is be overlapped when CD is with a upper rectangle AE.
Affine transformation is the linear transformation that a kind of two-dimensional coordinate (x, y) arrives two-dimensional coordinate (u, v), can apply affine transformation pair
X-Y scheme such as is translated, is scaled, being rotated at the operation, shown in mathematical expression form such as formula (8):
Shown in corresponding homogeneous coordinates matrix expression-form such as formula (9):
Parameter a in above-mentioned formula (8) and formula (9)1、b1、c1、a2、b2And c2The coefficient calculated for formula.
On the one hand in order to retain geography information to the maximum extent, on the other hand consider that affine transformation only has 6 freedom degrees
Principle (can determine the transformation matrix of figure) by three pairs of coordinates, and just following shape of rectangular ribbon is divided at two parts
Reason.
Fig. 5 is that the band of one embodiment of the invention is divided into axonometric projection.As shown in figure 5, being divided into a left side using diagonal line as boundary line
The upper and triangle of bottom right two, carries out affine transformation respectively.At this point, being divided into two kinds of processing modes.Fig. 6 is one implementation of the present invention
The gap of example handles figure.As shown in fig. 6, when rectangle ABCD is not when CD intersects overlapping with AE when a upper rectangle, it will
The vertex B of triangle ABC is moved to the position of E point, keeps the vertex position of triangle ACD constant.
Fig. 7 is the overlap processing figure of one embodiment of the invention.As shown in fig. 7, as the side CD of rectangle ABCD and upper one
When the side AE overlapping of rectangle, in order to improve computational efficiency, the vertex C of triangle ACD is moved to the position of E point, and give up
Triangle ACE.
Fig. 8 is the sonar working principle diagram of one embodiment of the invention.As shown in figure 8, S is sonar signal launch point, OB
For the bottom, OS is sonar to water-bed vertical range.Assuming that the angle of release of sonar is θ, i.e., acoustic signal is BC in water-bed range, but
Actual signal range of receiving is AB, and AC range is null zones, and water column area is shown as in Waterfall plot.
In short, the present invention can adjust the placement angle of sonar and according to the actual situation away from water-bed depth, pass through letter first
The setting of number reception delay, guarantee must have water column area, i.e. the effective information of signal will not be lost；Secondly, adjustment OC and AC model
It encloses, water column area range can be reduced to a certain extent, improve picture quality.The present invention only by adjusting coordinate relative position,
Splicing front and rear coordinate mapping relations are calculated using affine transformation, Sonar Mosaic splicing operation can be completed.Without carrying out
The operation such as fusion is filled up and are overlapped to image distortion correction, gap, and entire splicing is simple and easy to do, high-efficient.
Claims (10)
1. a kind of side-scanning sonar image splicing system characterized by comprising
Sonar, attitude transducer, GPS, holder bracket, cradle head controllor, computer；
By network communication, attitude transducer, GPS and cradle head controllor pass through serial ports and computer phase respectively for sonar and computer
Connection, holder bracket are connect with cradle head controllor by serial ports；
The attitude transducer is installed aboard ship, for measuring the posture of hull；
The GPS be fixedly mounted aboard ship, for recording boat real time position and obtain sonar signal launch point real time position
Information；
The holder bracket is fixedly installed on the outer side of hull and is immersed in the water；The sonar is set on holder bracket,
For receiving and dispatching acoustic signal；
The cradle head controllor is set in cabin, for controlling the posture of holder bracket；
The computer includes upper computer and lower computer, is all set in cabin, is believed for data acquired in integrated treatment
Breath.
2. a kind of side-scanning sonar image splicing system according to claim 1, which is characterized in that the holder bracket
Under cradle head controllor control, adjustable vertical height and rotation angle, thus, make the sonar being set on holder bracket
Depth is changed in pitch angle and water.
3. a kind of side-scanning sonar image splicing system according to claim 1, which is characterized in that the holder bracket
Configured with sounding instrument equipment, for recording sonar range bottom depth and sonar pitch angle at any time.
4. a kind of side-scanning sonar image splicing system according to claim 1, which is characterized in that the sonar is set
Set should meet it is claimed below: the wave beam transmit-receive position of sonar and ship navigation direction are mutually perpendicular to.
5. a kind of side-scanning sonar image splicing system according to claim 1, which is characterized in that the posture sensing
Device is mounted on hull axis line position；The GPS is arranged on the boat deck ipsilateral with sonar position.
6. a kind of side-scanning sonar image joining method, which comprises the following steps:
(1) using computer upper computer software read sonar file in image data, show sonar waterfall image, and to image into
Row pretreatment:
(2) computer upper computer software is utilized, GPS latitude and longitude information, ship's speed information and course angle information are successively read, by longitude and latitude
Degree coordinate is converted to Universal Transverse Mercator Projection system coordinates, draws track line, smooth track data；
(3) according to GPS information, scan line is saved as a whole, the scan line integrally saved is known as band image；Together
When, according to GPS coordinate information, update the band image coordinate of sonar；
(4) pixel coordinate position of painting canvas range and band image in painting canvas is determined；
(5) sonar image is projected into two-dimensional surface, band image shape is adjusted by affine transformation, made close between band image
Arrangement；Image is handled by gray scale stretching mode, balanced sonar brightness of image completes splicing.
7. a kind of side-scanning sonar image joining method according to claim 6, which is characterized in that the step (1)
Detailed process includes:
(1.1) gaussian filtering smoothed image is utilized, the Gaussian noise in sonar image is removed；
(1.2) gray scale stretching mode is used, the contrast of sonar image is improved；
(1.3) image is subjected to oblique distance correction, adjusts sonar image lateral dimension, process are as follows:
If maximum oblique distance range is SlantRange, every ping sonar is High, the width of unilateral sonar image away from water-bed height
It is Width, the horizontal distance of every ping is formula (1):
The pixel resolution of image is formula (2) at this time:
Res=SlantRange/width (2)
At this point, any one pixel P on correction image1(x1,y1) and the original corresponding pixel points P not corrected on image2(x2,
y2) relationship be formula (3):
8. a kind of side-scanning sonar image joining method according to claim 6, which is characterized in that the step (3) includes
Following steps:
(3.1) according to system parameter, signal echo dot position information is calculated；
Assuming that sonar reception delay is delay, the underwater velocity of sound is C, then the distance of every frame data near point echo are as follows:
Lmin=delay*C/2 (4)
Assuming that sampling number is N, sample frequency Fs, then every frame data length is formula (5):
Ldata=N/Fs*C/2 (5)
(3.2) scan line can be grouped in two ways: the scan line with identical GPS information is saved as a whole,
Or by course angle judge the segment for direct route section after, using in the segment limit with different GPS informations scan line as whole
Body saves.
9. a kind of side-scanning sonar image joining method according to claim 6, which is characterized in that described step (4) mistake
Journey are as follows:
The regional scope of sonar image is determined according to actual geographic coordinate, which is determined by a boundary rectangle；Enabling should
The upper left corner of rectangular area and the coordinate of bottom right angle point are respectively (lx, ly) and (rx, ry), and image resolution ratio is in computer
Resolution, then shown in the width and high calculation such as formula (6) of painting canvas:
Actual geographic coordinate is (x0,y0), shown in pixel screen coordinate (x ', y ') expression formula such as formula (7):
10. a kind of side-scanning sonar image joining method according to claim 6, which is characterized in that step (5) packet
Include following steps:
(5.1) by adjusting band image real coordinate position, i.e. adjustment adjacent ribbons picture position, make its close-packed arrays；
(5.2) band image is diagonally bisected into two triangles, calculates splicing front and rear coordinate using affine transformation and converts
Then pixel value is assigned to corresponding coordinate using transformation relation by relationship.
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Cited By (5)
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| CN110706177A (en) * | 2019-09-30 | 2020-01-17 | 北京大学 | Method and system for equalizing gray level of side-scan sonar image |
| CN110837086A (en) * | 2019-10-31 | 2020-02-25 | 江苏科技大学 | Submarine target positioning method and system based on side-scan sonar |
| CN111445395A (en) * | 2020-03-03 | 2020-07-24 | 哈尔滨工程大学 | Method for repairing middle area of side-scan sonar waterfall image based on deep learning |
| CN113284048A (en) * | 2021-04-15 | 2021-08-20 | 哈尔滨工程大学 | Side-scan sonar image splicing method |
| CN115469315A (en) * | 2022-11-02 | 2022-12-13 | 广东智能无人系统研究院 | Sonar imaging method adopting inclined side scanning mode |
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| CN110837086B (en) * | 2019-10-31 | 2021-07-09 | 江苏科技大学 | Submarine target positioning method and system based on side-scan sonar |
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| CN113284048A (en) * | 2021-04-15 | 2021-08-20 | 哈尔滨工程大学 | Side-scan sonar image splicing method |
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