CN111586293A - Underwater imaging method and device according to influence of seawater turbidity - Google Patents
Underwater imaging method and device according to influence of seawater turbidity Download PDFInfo
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- CN111586293A CN111586293A CN202010334808.9A CN202010334808A CN111586293A CN 111586293 A CN111586293 A CN 111586293A CN 202010334808 A CN202010334808 A CN 202010334808A CN 111586293 A CN111586293 A CN 111586293A
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/76—Circuitry for compensating brightness variation in the scene by influencing the image signals
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Abstract
The invention discloses an underwater imaging method and device according to the influence of seawater turbidity. Wherein, the method comprises the following steps: acquiring image data; presetting and adjusting the image data according to the turbidity value of the seawater; and outputting the adjusted image data. The invention solves the technical problem that the influence of seawater turbidity is not considered when underwater image data is acquired in the prior art, so that the image data is acquired inaccurately.
Description
Technical Field
The invention relates to the field of underwater shooting, in particular to an underwater imaging method and device according to the influence of seawater turbidity.
Background
With the continuous development of intelligent underwater shooting equipment, people have higher and higher requirements on the imaging quality and the intelligent degree of an underwater imaging system. At present, when equipment for marine underwater imaging performs underwater operation, direct image data acquisition is often adopted and image output is performed, namely, the obtained image data is original image data acquired by a camera.
However, when the underwater imaging device in the prior art performs shooting and imaging, the original image data is often directly shot and collected by the underwater camera, and the influence of the seawater environment on the image is not considered, for example, the influence of the seawater turbidity on the collected image is not considered, so that the image accuracy reflected by the directly collected image data is deviated, and further, the subsequent analysis of the image is inaccurate.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for underwater imaging according to influence of seawater turbidity, which at least solve the technical problem that influence of seawater turbidity is not considered when underwater image data is acquired in the prior art, so that the image data is not acquired accurately.
According to an aspect of an embodiment of the present invention, there is provided an underwater imaging method according to influence of turbidity of seawater, including: acquiring image data; presetting and adjusting the image data according to the turbidity value of the seawater; and outputting the adjusted image data.
Optionally, after acquiring the image data, the method further includes: obtaining an environmental seawater sample; and calculating the seawater turbidity value according to the environmental seawater sample.
Optionally, the presetting and adjusting the image data according to the turbidity value of the seawater includes: comparing the seawater turbidity value with a preset turbidity value to generate a comparison result; and adjusting the brightness value of the image data according to the comparison result.
Optionally, the comparison result includes one of the following: the seawater turbidity value is larger than the preset turbidity value, and the seawater turbidity value is not larger than the preset turbidity value.
Optionally, the adjusting the brightness value of the image data includes: and promoting the brightness value of the image data to a preset brightness value.
Optionally, before the outputting the adjusted image data, the method further includes: the seawater turbidity value is marked on top of the image data.
According to another aspect of the embodiments of the present invention, there is also provided an underwater imaging apparatus according to influence of turbidity of seawater, including: the acquisition module is used for acquiring image data; the adjusting module is used for presetting and adjusting the image data according to the turbidity value of the seawater; and the output module is used for outputting the adjusted image data.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, which includes a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute the method when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including a processor and a memory; the memory has stored therein computer readable instructions for execution by the processor, wherein the computer readable instructions when executed perform the method.
In the embodiment of the invention, image data is acquired; presetting and adjusting the image data according to the turbidity value of the seawater; the mode of outputting the adjusted image data achieves the purpose of considering the influence of the seawater turbidity value when shooting and imaging underwater by a mode including the influence of the seawater turbidity value, and further solves the technical problem that the image data acquisition is inaccurate because the influence of the seawater turbidity is not considered when acquiring the underwater image data in the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of underwater imaging based on the effect of seawater turbidity in accordance with an embodiment of the present invention;
fig. 2 is a block diagram of an underwater imaging apparatus according to an influence of turbidity of seawater according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
In accordance with an embodiment of the present invention, there is provided an embodiment of a method of underwater imaging based on the influence of seawater turbidity, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flow chart of a method for underwater imaging based on the influence of seawater turbidity according to an embodiment of the present invention, as shown in fig. 1, the method comprising the steps of:
step S102, image data is acquired.
Specifically, in an underwater marine shooting environment, seawater exists between a shot object and an underwater camera lens as a liquid medium, so that in order to achieve the purpose of accurately and optimizing an image by referring to the influence of a turbidity value of the seawater, in the embodiment of the invention, firstly, the image is collected, and when the image is collected, the underwater camera directly shoots the object to be shot to obtain original image data, namely, the image data which is not processed.
Optionally, after acquiring the image data, the method further includes: obtaining an environmental seawater sample; and calculating the seawater turbidity value according to the environmental seawater sample.
Specifically, when the underwater camera collects an object to be shot underwater, since a seawater medium exists between the shot object and the camera of the shooting device, the turbidity value of the seawater needs to be calculated and considered, so that the accuracy of image generation is increased. In order to collect the turbidity value of the seawater, an environmental seawater sample around the underwater camera is collected, and then the turbidity value of the seawater is calculated according to the collected environmental seawater sample.
It should be noted that the turbidity value refers to the degree of obstruction of light by the solution, and includes light scattering by suspended matter and light absorption by solute molecules. The turbidity of water is related not only to the content of suspended substances in the water, but also to their size, shape, refractive index, etc. Turbidity is generally applicable to water quality determination of natural water, drinking water and part of industrial water. The turbidity-measuring water sample should be measured as soon as possible, or must be refrigerated at 4 ℃ and measured within 24h, and the water sample is shaken vigorously and returned to room temperature before measurement. The water contains suspended substances and colloidal substances such as soil, silt, fine organic matters, inorganic matters, plankton and the like, so that the water quality is changed into turbidity to present a certain turbidity, and the water quality analysis specifies that: the turbidity constituted by 1mgSiO2 in 1L of water is one standard turbidity unit, 1 degree for short. Generally, the higher the turbidity, the more turbid the solution. [ Water contains suspended and colloidal particles, so that the water which is colorless and transparent originally generates a turbidity phenomenon, and the turbidity degree is called turbidity. The unit of turbidity is expressed as "degree", that is, when 1mg of SiO2 (or non-koxtamal kaolin, diatomaceous earth) is contained in 1L of water, the degree of turbidity generated is 1 degree, or Jackson. Kaolin suspension with turbidity units JTU, 1JTU ═ 1 mg/L. The turbidity exhibited by modern instruments is in nephelometric turbidity units NTU, also known as TU. 1NTU is 1 JTU. Recently, it is internationally believed that the turbidity standard prepared from urotropine-hydrazine sulfate has better reproducibility, and is selected as the universal standard FTU of each country. 1FTU ═ 1 JTU. Turbidity is an optical effect, and the degree to which light is blocked through a water layer indicates the ability of the water layer to scatter and absorb light. It is not only related to the content of suspended matter, but also to the composition of impurities in the water, the particle size, shape and the reflective properties of its surface. The control of turbidity is an important content of industrial water treatment and an important water quality index. According to different uses of water, different requirements are made on turbidity, and the turbidity of the domestic drinking water cannot exceed 1 NTU; the turbidity of make-up water for circulating cooling water treatment is required to be 2-5 ℃; the turbidity of inlet water (raw water) treated by the desalted water is less than 3 ℃; making rayon requires that the turbidity of the water be less than 0.3 degrees. Since the suspended and colloidal particles that constitute turbidity are generally stable and mostly negatively charged, they do not settle without chemical treatment. In industrial water treatment, coagulation, clarification and filtration are mainly used to reduce the turbidity of water.
It should also be noted that the turbidity value may be measured by a turbidimeter in embodiments of the present invention. The turbidimeter emits light through a length of the sample and detects how much light is scattered by particles in the water from a direction 90 to the incident light. This method of measuring scattered light is called scatterometry. Any true turbidity must be measured in this way. The turbidimeter is suitable for field and laboratory measurement and all-weather continuous monitoring. A turbidity meter may be arranged to issue an alarm when the measured turbidity value exceeds a safety standard.
And step S104, presetting and adjusting the image data according to the turbidity value of the seawater.
Optionally, the presetting and adjusting the image data according to the turbidity value of the seawater includes: comparing the seawater turbidity value with a preset turbidity value to generate a comparison result; and adjusting the brightness value of the image data according to the comparison result.
Specifically, in the storage space of the processor, a user of the embodiment of the present invention may set a preset turbidity value for representing the influence degree of the seawater turbidity on the underwater imaging device, and when the preset turbidity value is exceeded, the acquired image data is greatly influenced by the seawater turbidity value, and the image needs to be optimized so that the brightness of the image data can meet the requirement of the user. Therefore, the comparison result is generated by the comparison operation of the seawater turbidity value and the preset turbidity value in the comparator, and whether the optimization of the image data is carried out or not is judged and implemented according to the comparison result.
Optionally, the comparison result includes one of the following: the seawater turbidity value is larger than the preset turbidity value, and the seawater turbidity value is not larger than the preset turbidity value.
Optionally, the adjusting the brightness value of the image data includes: and promoting the brightness value of the image data to a preset brightness value.
Specifically, when it is determined through the above steps of the embodiment of the present invention that the acquired image data cannot meet the requirements of the user, that is, the image data acquired by the underwater image capturing apparatus is greatly influenced by the turbidity value of the seawater, that is, the turbidity value of the seawater is greater than the preset turbidity value, the processor sends an image optimizing signal to the image processing chip, where the signal may be to increase the brightness value of the acquired image data. Therefore, the brightness value of the acquired image data is increased to a brightness value preset by a user in the processor, and the preset brightness value is the brightness value of the image data which can meet the requirements of the user.
Step S106, the adjusted image data is output.
Specifically, by the image data optimization method in the embodiment of the invention, the influence of the turbidity value of the seawater on the brightness of the originally acquired image is eliminated, and therefore, the image data meeting the requirements of users is obtained after the brightness value processing process of the image data is implemented. Then, outputting the image data meeting the requirements, providing the user with the image data for use and analysis, namely, outputting the adjusted image data.
Optionally, before the outputting the adjusted image data, the method further includes: the seawater turbidity value is marked on top of the image data.
Specifically, in order to enable a user to determine which image collected by the underwater camera is subjected to brightness processing, that is, to refer to the image data after optimization of the seawater turbidity value, the processor adds the current seawater turbidity value detected by the embodiment of the present invention to the optimized image, so that the unprocessed original image is distinguished from the processed image considering the influence of the seawater turbidity value, which is convenient for the user to use, and the user experience is increased.
Example two
Fig. 2 is a block diagram illustrating an underwater imaging apparatus according to influence of turbidity of seawater according to an embodiment of the present invention, and according to another aspect of the embodiment of the present invention, there is also provided an underwater imaging apparatus according to influence of turbidity of seawater, including:
and an obtaining module 20, configured to obtain image data.
Specifically, in an underwater marine shooting environment, seawater exists between a shot object and an underwater camera lens as a liquid medium, so that in order to achieve the purpose of accurately and optimizing an image by referring to the influence of the turbidity value of the seawater, the embodiment of the invention firstly acquires an image, and the underwater camera directly shoots the object to be shot to obtain original image data, namely image data which is not processed, when the image data is acquired by the image.
Optionally, after acquiring the image data, the method further includes: obtaining an environmental seawater sample; and calculating the seawater turbidity value according to the environmental seawater sample.
Specifically, when the underwater camera collects an object to be shot underwater, since a seawater medium exists between the shot object and the camera of the shooting device, the turbidity value of the seawater needs to be calculated and considered, so that the accuracy of image generation is increased. In order to collect the turbidity value of the seawater, an environmental seawater sample around the underwater camera is collected, and then the turbidity value of the seawater is calculated according to the collected environmental seawater sample.
It should be noted that the turbidity value refers to the degree of obstruction of light by the solution, and includes light scattering by suspended matter and light absorption by solute molecules. The turbidity of water is related not only to the content of suspended substances in the water, but also to their size, shape, refractive index, etc. Turbidity is generally applicable to water quality determination of natural water, drinking water and part of industrial water. The turbidity-measuring water sample should be measured as soon as possible, or must be refrigerated at 4 ℃ and measured within 24h, and the water sample is shaken vigorously and returned to room temperature before measurement. The water contains suspended substances and colloidal substances such as soil, silt, fine organic matters, inorganic matters, plankton and the like, so that the water quality is changed into turbidity to present a certain turbidity, and the water quality analysis specifies that: the turbidity constituted by 1mgSiO2 in 1L of water is one standard turbidity unit, 1 degree for short. Generally, the higher the turbidity, the more turbid the solution. [ Water contains suspended and colloidal particles, so that the water which is colorless and transparent originally generates a turbidity phenomenon, and the turbidity degree is called turbidity. The unit of turbidity is expressed as "degree", that is, when 1mg of SiO2 (or non-koxtamal kaolin, diatomaceous earth) is contained in 1L of water, the degree of turbidity generated is 1 degree, or Jackson. Kaolin suspension with turbidity units JTU, 1JTU ═ 1 mg/L. The turbidity exhibited by modern instruments is in nephelometric turbidity units NTU, also known as TU. 1NTU is 1 JTU. Recently, it is internationally believed that the turbidity standard prepared from urotropine-hydrazine sulfate has better reproducibility, and is selected as the universal standard FTU of each country. 1FTU ═ 1 JTU. Turbidity is an optical effect, and the degree to which light is blocked through a water layer indicates the ability of the water layer to scatter and absorb light. It is not only related to the content of suspended matter, but also to the composition of impurities in the water, the particle size, shape and the reflective properties of its surface. The control of turbidity is an important content of industrial water treatment and an important water quality index. According to different uses of water, different requirements are made on turbidity, and the turbidity of the domestic drinking water cannot exceed 1 NTU; the turbidity of make-up water for circulating cooling water treatment is required to be 2-5 ℃; the turbidity of inlet water (raw water) treated by the desalted water is less than 3 ℃; making rayon requires that the turbidity of the water be less than 0.3 degrees. Since the suspended and colloidal particles that constitute turbidity are generally stable and mostly negatively charged, they do not settle without chemical treatment. In industrial water treatment, coagulation, clarification and filtration are mainly used to reduce the turbidity of water.
It should also be noted that the turbidity value may be measured by a turbidimeter in embodiments of the present invention. The turbidimeter emits light through a length of the sample and detects how much light is scattered by particles in the water from a direction 90 to the incident light. This method of measuring scattered light is called scatterometry. Any true turbidity must be measured in this way. The turbidimeter is suitable for field and laboratory measurement and all-weather continuous monitoring. A turbidity meter may be arranged to issue an alarm when the measured turbidity value exceeds a safety standard.
And the adjusting module 22 is configured to perform preset adjustment on the image data according to the seawater turbidity value.
Optionally, the presetting and adjusting the image data according to the turbidity value of the seawater includes: comparing the seawater turbidity value with a preset turbidity value to generate a comparison result; and adjusting the brightness value of the image data according to the comparison result.
Specifically, in the storage space of the processor, a user of the embodiment of the present invention may set a preset turbidity value for representing the influence degree of the seawater turbidity on the underwater imaging device, and when the preset turbidity value is exceeded, the acquired image data is greatly influenced by the seawater turbidity value, and the image needs to be optimized so that the brightness of the image data can meet the requirement of the user. Therefore, the comparison result is generated by the comparison operation of the seawater turbidity value and the preset turbidity value in the comparator, and whether the optimization of the image data is carried out or not is judged and implemented according to the comparison result.
Optionally, the comparison result includes one of the following: the seawater turbidity value is larger than the preset turbidity value, and the seawater turbidity value is not larger than the preset turbidity value.
Optionally, the adjusting the brightness value of the image data includes: and promoting the brightness value of the image data to a preset brightness value.
Specifically, when it is determined through the above steps of the embodiment of the present invention that the acquired image data cannot meet the requirements of the user, that is, the image data acquired by the underwater image capturing apparatus is greatly influenced by the turbidity value of the seawater, that is, the turbidity value of the seawater is greater than the preset turbidity value, the processor sends an image optimizing signal to the image processing chip, where the signal may be to increase the brightness value of the acquired image data. Therefore, the brightness value of the acquired image data is increased to a brightness value preset by a user in the processor, and the preset brightness value is the brightness value of the image data which can meet the requirements of the user.
And an output module 24, configured to output the adjusted image data.
Specifically, by the image data optimization method in the embodiment of the invention, the influence of the turbidity value of the seawater on the brightness of the originally acquired image is eliminated, and therefore, the image data meeting the requirements of users is obtained after the brightness value processing process of the image data is implemented. Then, outputting the image data meeting the requirements, providing the user with the image data for use and analysis, namely, outputting the adjusted image data.
Optionally, before the outputting the adjusted image data, the method further includes: the seawater turbidity value is marked on top of the image data.
Specifically, in order to enable a user to determine which image collected by the underwater camera is subjected to brightness processing, that is, to refer to the image data after optimization of the seawater turbidity value, the processor adds the current seawater turbidity value detected by the embodiment of the present invention to the optimized image, so that the unprocessed original image is distinguished from the processed image considering the influence of the seawater turbidity value, which is convenient for the user to use, and the user experience is increased.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, which includes a stored program, wherein the program controls a device in which the non-volatile storage medium is located to execute the method when running.
Specifically, the method comprises the following steps: acquiring image data; presetting and adjusting the image data according to the turbidity value of the seawater; and outputting the adjusted image data.
Optionally, after acquiring the image data, the method further includes: obtaining an environmental seawater sample; and calculating the seawater turbidity value according to the environmental seawater sample.
Optionally, the presetting and adjusting the image data according to the turbidity value of the seawater includes: comparing the seawater turbidity value with a preset turbidity value to generate a comparison result; and adjusting the brightness value of the image data according to the comparison result.
Optionally, the comparison result includes one of the following: the seawater turbidity value is larger than the preset turbidity value, and the seawater turbidity value is not larger than the preset turbidity value.
Optionally, the adjusting the brightness value of the image data includes: and promoting the brightness value of the image data to a preset brightness value.
Optionally, before the outputting the adjusted image data, the method further includes: the seawater turbidity value is marked on top of the image data.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including a processor and a memory; the memory has stored therein computer readable instructions for execution by the processor, wherein the computer readable instructions when executed perform the method.
Specifically, the method comprises the following steps: acquiring image data; presetting and adjusting the image data according to the turbidity value of the seawater; and outputting the adjusted image data.
Optionally, after acquiring the image data, the method further includes: obtaining an environmental seawater sample; and calculating the seawater turbidity value according to the environmental seawater sample.
Optionally, the presetting and adjusting the image data according to the turbidity value of the seawater includes: comparing the seawater turbidity value with a preset turbidity value to generate a comparison result; and adjusting the brightness value of the image data according to the comparison result.
Optionally, the comparison result includes one of the following: the seawater turbidity value is larger than the preset turbidity value, and the seawater turbidity value is not larger than the preset turbidity value.
Optionally, the adjusting the brightness value of the image data includes: and promoting the brightness value of the image data to a preset brightness value.
Optionally, before the outputting the adjusted image data, the method further includes: the seawater turbidity value is marked on top of the image data.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method of underwater imaging based on the effects of seawater turbidity, comprising:
acquiring image data;
presetting and adjusting the image data according to the turbidity value of the seawater;
and outputting the adjusted image data.
2. The method of claim 1, wherein after the acquiring image data, the method further comprises:
obtaining an environmental seawater sample;
and calculating the seawater turbidity value according to the environmental seawater sample.
3. The method of claim 1, wherein the preset adjustment of the image data according to the turbidity value of the seawater comprises:
comparing the seawater turbidity value with a preset turbidity value to generate a comparison result;
and adjusting the brightness value of the image data according to the comparison result.
4. The method of claim 3, wherein the comparison result comprises one of: the seawater turbidity value is larger than the preset turbidity value, and the seawater turbidity value is not larger than the preset turbidity value.
5. The method of claim 3, wherein the adjusting the brightness value of the image data comprises: and promoting the brightness value of the image data to a preset brightness value.
6. The method of claim 1, wherein prior to said outputting the adjusted image data, the method further comprises: the seawater turbidity value is marked on top of the image data.
7. An underwater imaging apparatus based on the influence of turbidity of seawater, comprising:
the acquisition module is used for acquiring image data;
the adjusting module is used for presetting and adjusting the image data according to the turbidity value of the seawater;
and the output module is used for outputting the adjusted image data.
8. A non-volatile storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the non-volatile storage medium is located to perform the method of any of claims 1 to 6.
9. An electronic device comprising a processor and a memory; the memory has stored therein computer readable instructions for execution by the processor, wherein the computer readable instructions when executed perform the method of any one of claims 1 to 6.
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| WO2022158611A1 (en) * | 2021-01-19 | 2022-07-28 | 주식회사 포에스텍 | Method for correcting underwater environment image by using ultrasonic sensor |
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| CN102982514A (en) * | 2012-12-10 | 2013-03-20 | 河海大学常州校区 | Underwater color image enhancement method integrating dark primary and white balance |
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| CN107613206A (en) * | 2017-09-28 | 2018-01-19 | 努比亚技术有限公司 | A kind of image processing method, mobile terminal and computer-readable recording medium |
| CN110930319A (en) * | 2019-11-05 | 2020-03-27 | 天津大学 | Underwater image sharpening method based on self-adaptive transmissivity estimation |
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| WO2022158611A1 (en) * | 2021-01-19 | 2022-07-28 | 주식회사 포에스텍 | Method for correcting underwater environment image by using ultrasonic sensor |
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