CN112859005B - Method for detecting metal straight cylinder structure in multichannel ground penetrating radar data - Google Patents
Method for detecting metal straight cylinder structure in multichannel ground penetrating radar data Download PDFInfo
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Abstract
The application discloses a method for detecting a metal straight cylindrical structure in multichannel ground penetrating radar data, which comprises the following steps: obtaining m×c radar data bscan in a region to be detected; recording an image corresponding to the jth radar data bscan of the ith radar data batch as img_ij; performing two-dimensional hyperbola detection on any image img_ij, and obtaining k metal column structure targets; recording a metal cylindrical structure target Set in an image img_ij as set_ij, and performing two-dimensional hyperbolic detection on the jth radar data bscan of the ith radar data batch to obtain m sets; traversing any metal cylindrical structure target in the metal cylindrical structure target set_ij in sequence, and searching a two-dimensional target in an area occupation ratio mode to obtain a three-dimensional metal cylindrical structure target Set which is set_3d; and synthesizing the three-dimensional metal cylindrical structure targets in which the three-dimensional metal cylindrical structure targets are Set to be set_3d to obtain the metal straight cylindrical structure.
Description
Technical Field
The application relates to the technical field of radar data processing, in particular to a method for detecting a metal straight cylinder structure in multichannel ground penetrating radar data.
Background
The corresponding position of the metal cylinder structure in the ground penetrating radar slice drawing presents an obvious hyperbolic structure, and whether the steel bar or the pipeline (hollow) is not distinguished. On multichannel ground penetrating radar equipment, multichannel shallow layer ground penetrating radar during operation hangs on carrying device, advances by carrying device a plurality of passageway simultaneously, presumes the radar equipment of m passageway, and m can be more than or equal to any integer of 1, and when m was 1, it was single channel ground penetrating radar.
In general, the ground penetrating radar works by performing full coverage detection on an area (as shown in fig. 1), where each detection we refer to m channels of radar data bscan generated by a single travel as 1 group of latches, in general, in the multi-channel ground penetrating radar detection, the number of ascan included in all bscan in the same latch is the same, and in the full coverage detection, the number of ascan included in the radar data bscan in two different latches is different, for example, as shown in fig. 2. The multi-channel ground penetrating radar detects c times back and forth in the area to generate c groups of batch data, namely c multiplied by m radar data bscan, namely a cube radar data, as shown in fig. 3, each point represents an actual position, the value of each point is the intensity of radar echo, the radar echo represents the condition of an underground target, and the single bscan radar echo data is subjected to visual processing as shown in fig. 4.
At present, in the prior art, the data analysis of the multichannel shallow ground penetrating radar is generally to analyze each slice diagram, then integrate the analysis results of the slice diagrams to obtain a real three-dimensional geological target detection result, and the metal cylindrical structure target can show obvious hyperbolic characteristics in the radar slice diagram, as shown in fig. 5. Currently, automatic detection of an underground target of a metal cylindrical structure mainly concentrates on detection of a single bscan, for example Mao Xingpeng 'a rapid detection method for a hyperbolic target of a ground penetrating radar', which mainly carries out visual processing on ground penetrating radar data (the large probability is bscan data), carries out edge detection, carries out visual re-edge processing after radar signal processing, and finds a hyperbolic target after combining, at this time, a cluster of hyperbolic results is needed, dielectric constant information is combined with the hyperbolic results, the hyperbolic fixed point and the hyperbolas are reflected images belonging to the same steel bar are extracted from the cluster of hyperbolic results, n steel bars and fixed point positions thereof are obtained, the method is based on a classical image processing algorithm, the hyperbolic information in a bscan radar signal is extracted, and a plurality of two-dimensional results are obtained, but the hyperbolic target is not necessarily the steel bar target, a metal screw cap (the large point) in a ground penetrating radar scanning address, and the hyperbolic result is also stroked on the bscan be obtained on the bscan image.
And as the patent application number is 202010493228.4, the Chinese patent application is named as an intelligent positioning method of concrete reinforcing steel bars based on ground penetrating radar and deep learning, which is almost the same as the condition of the quick detection method of hyperbolic targets of ground penetrating radar, uses ssd to detect the targets based on deep learning, and finally determines the positions (peaks) of hyperbolic targets so as to determine how deep the hyperbolic targets are at the ground.
As further Hao Tong, "overview of hyperbolic morphology-oriented ground penetrating radar image recognition techniques", which is a summary of the present detection of hyperbolic targets in bscan images, includes deep learning methods (e.g., "202010493228.4") and also methods based on image processing (e.g., a ground penetrating radar hyperbolic target rapid detection method), but is based on the results of bscan images and is two-dimensional.
In actual situations, whether classical image processing or deep learning methods are used, target detection is carried out on a single bscan image, and as radar slice images represent targets through electromagnetic reflection wave intensity, the actual situations below the road surface are very complex, a plurality of false targets exist, and very obvious hyperbolic characteristics are displayed in the single bscan slice images.
Therefore, it is highly desirable to provide a method for detecting a metal-based right cylindrical structure in multichannel ground penetrating radar data with simple logic, accuracy and reliability.
Disclosure of Invention
Aiming at the problems, the application aims to provide a method for detecting a metal straight cylindrical structure in multichannel ground penetrating radar data, which adopts the following technical scheme:
a method for detecting a metal straight cylindrical structure in multichannel ground penetrating radar data comprises the following steps:
in the region to be detected, adopting an m-channel ground penetrating radar to carry out grid-shaped turn-back detection for c times along the parallel direction to obtain m multiplied by c radar data bscan; m radar data bscan form a radar data batch; c radar data latches form radar data cscan of the area to be detected; the radar data cscan is equal to m multiplied by c radar data bscan; m and c are integers greater than 1;
preprocessing any radar data bscan, and performing visualization processing;
recording an image corresponding to the jth radar data bscan of the ith radar data batch as img_ij; i is more than 0 and less than or equal to c, j is more than 0 and less than or equal to m;
performing two-dimensional hyperbola detection on any image img_ij, obtaining k metal cylinder structure targets, and recording any metal cylinder structure Target as target_ij_u, wherein u is more than 0 and less than or equal to k; the metal cylindrical structure Target target_ij_u contains position information; the position information comprises the coordinates, width and height of a central point of a metal cylindrical structure Target target_ij_u in an image img_ij;
recording a metal cylindrical structure target Set in an image img_ij as set_ij, and performing two-dimensional hyperbolic detection on the jth radar data bscan of the ith radar data batch to obtain m multiplied by c sets;
sequentially traversing any metal cylindrical structure target in the metal cylindrical structure target Set set_ij from the metal cylindrical structure target set_i1, searching a two-dimensional target in an area occupation ratio mode until any image img_ij finishes searching, and obtaining a three-dimensional metal cylindrical structure target Set as set_3d;
and synthesizing the three-dimensional metal cylindrical structure targets in which the three-dimensional metal cylindrical structure targets are Set to be set_3d to obtain the metal straight cylindrical structure.
Further, from the metal cylinder structure target set_i1, traversing any metal cylinder structure target in the metal cylinder structure target Set set_ij in sequence, and searching a two-dimensional target in an area occupation ratio mode until any image img_ij completes searching, so as to obtain a three-dimensional metal cylinder structure target Set as set_3d, which comprises the following steps:
sequentially traversing the metal cylindrical structure targets in any metal cylindrical structure target Set set_ij from the metal cylindrical structure target set_i1,
the Target of the s-1 metal column structure Target set is recorded as target_i (s-1) _p (s-1) ；p (s-1) Is an integer greater than 1 and less than the total number of targets of the s-1 th metal-based cylindrical structure target set; the Target target_i (s-1) _p (s-1) The corresponding position information in the area is rect_i (s-1) _p (s-1) S is more than 0 and less than or equal to j;
the Target of the Target set of the s-th metal column structure is recorded as target_is_p s ；p s Is an integer greater than 1 and less than the total number of targets of the s-th metallic cylinder structure target set; the Target target_is_p s The corresponding position information in the area is Rect_is_p s ；
Obtaining position information Rect_i (s-1) _p (s-1) And position information rect_is_p s Is the intersection area iSize of (2);
obtaining position information Rect_i (s-1) _p (s-1) And position information rect_is_p s Is the union area uSize of (2);
obtaining a ratio of the intersection area iSize to the union area uSize, and if the ratio is larger than a preset threshold value thresh, determining the ratio as a two-dimensional target for detecting adjacent radar data bscan in the same radar data batch at the same position;
and (3) completing two-dimensional target search until any image img_ij is completed, and forming a target Set of the three-dimensional metal cylindrical structure to be set_3d.
Further, the synthesizing the three-dimensional metal cylindrical structure target Set into the three-dimensional metal cylindrical structure target in set_3d to obtain the metal straight cylindrical structure comprises the following steps:
step S31, arbitrarily taking two three-dimensional metal cylindrical structure targets from a three-dimensional metal cylindrical structure target set_3d, and marking the two three-dimensional metal cylindrical structure targets as a three-dimensional metal cylindrical structure target pip3d_a and a three-dimensional metal cylindrical structure target pip3d_b;
step S32, if the endpoint distance between the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b is smaller than a preset threshold value minEndDis, fitting a three-dimensional straight line by using the center point coordinates corresponding to any two-dimensional target in the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b; otherwise, go to step S35;
step S33, if the vertical distance between any two-dimensional object in the three-dimensional metal cylindrical structure object pip3d_a and the three-dimensional metal cylindrical structure object pip3d_b and the fitted three-dimensional straight line is smaller than a threshold value minDisToline, synthesizing the three-dimensional metal cylindrical structure object pip3d_a and the three-dimensional metal cylindrical structure object pip3d_b into a three-dimensional object pip3d_new, and obtaining a metal straight cylindrical structure by utilizing the three-dimensional object pip3d_new; otherwise, go to step S35;
step S34, repeating the steps S31 to S33, storing the three-dimensional target pip3d_new into a data Set, updating to obtain a metal straight cylindrical structure until the three-dimensional metal cylindrical structure target comparison judgment of the three-dimensional metal cylindrical structure target set_3d is completed, and deleting the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b which correspond to the non-synthesized three-dimensional target pip3d_new;
and S35, obtaining a metal straight cylinder structure by utilizing the target composition of the three-dimensional metal cylinder structure of which the three-dimensional target pip3d_new is not synthesized.
Preferably, the three-dimensional straight line is fitted by a least square method.
Preferably, the threshold thresh takes a value of 0.5.
Preferably, the threshold minEndDis takes a value of 0.3.
Preferably, the threshold minDisToline has a value of 0.05.
Preferably, any radar data bscan is pre-processed, including adjusting zero offset, adjusting zero, filtering, and adjusting gain.
Preferably, FRCNN is used for two-dimensional hyperbolic detection of any image img_i.
Compared with the prior art, the application has the following beneficial effects:
(1) The application skillfully adopts the mode of area occupation ratio to realize the search of the two-dimensional target, and has the advantages that the relevance of the two-dimensional target detected by adjacent bscan of the same batch is represented;
(2) The application synthesizes the three-dimensional metal cylindrical structure targets to obtain metal straight cylindrical structures, and in an actual scene, the straight cylindrical structures are very many, and the application synthesizes small-section three-dimensional targets in a straight line fitting mode;
in conclusion, the method has the advantages of simple logic, accuracy, reliability and the like, and has high practical value and popularization value in the technical field of radar data processing.
Drawings
For a clearer description of the technical solutions of the embodiments of the present application, the drawings to be used in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope of protection, and other related drawings may be obtained according to these drawings without the need of inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a ground path in the prior art.
Fig. 2 is a diagram of ground penetrating detection radar data in the prior art.
Fig. 3 is a diagram of radar data for a cube of the prior art.
Fig. 4 is a diagram of prior art echo data.
Fig. 5 is a hyperbolic characteristic diagram of the prior art.
Fig. 6 is a target position diagram of the present application.
Fig. 7 is a positional-area relationship diagram of the present application.
FIG. 8 is a three-dimensional object set diagram of the present application.
Fig. 9 is a point-vector fit straight line graph of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described with reference to the accompanying drawings and examples, which include, but are not limited to, the following examples. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Examples
As shown in fig. 6 to 9, the present embodiment provides a method for detecting a metal-based right cylindrical structure in multi-channel ground penetrating radar data, which includes the following steps:
in the first step, in the region to be detected, adopting m-channel ground penetrating radar to carry out grid-shaped turning-back detection for c times along the parallel direction to obtain m multiplied by c radar data bscan; m radar data bscan form a radar data batch; c radar data latches form radar data cscan of the area to be detected; the radar data cscan is equal to m multiplied by c radar data bscan; m and c are integers greater than 1; in this embodiment, m has a value of 7.
In the second step, preprocessing (zero offset adjustment, zero adjustment, filtering and gain adjustment) is performed on any radar data bscan, and visualization processing is performed, and in this embodiment, signal preprocessing and visualization are general schemes, which are not described.
Thirdly, recording an image corresponding to the j-th radar data bscan of the i-th radar data batch as img_ij; i is more than 0 and less than or equal to c, and j is more than 0 and less than or equal to m.
And fourthly, detecting the two-dimensional hyperbolic steel bar structure of the image img_ij, wherein a classical image processing algorithm (such as a quick detection method of a hyperbolic target of a ground penetrating radar) can be adopted, and a deep learning mode can be adopted without limitation. In this embodiment, FRCNN is used to train the existing brother type sample picture of the radar section, and then the trained model is used to identify the image img_ij, and the result of the type of the metal type cylinder is taken.
Fifthly, obtaining k metal cylinder structure targets, and recording any metal cylinder structure Target as target_ij_u, wherein u is more than 0 and less than or equal to k; the metal cylindrical structure Target target_ij_u contains position information; the position information comprises the coordinates, width and height of the central point of the metal cylindrical structure Target target_ij_u in the image img_ij. When the ground penetrating radar works, each Ascan has not only data but also corresponding positions, as shown in fig. 1, so that the target has a real coordinate Position besides an image Position, and the Position of the center point of the target in this embodiment represents the actual Position of the target, where the Position includes x, y, position, height. Where x and y are the positions in the coordinate system used in the detection task and latency, height, is the longitude and latitude of the point in the earth coordinate system.
And sixthly, recording a metal cylindrical structure target Set in the image img_ij as set_ij, and performing two-dimensional hyperbolic detection on the j-th radar data bscan of the i-th radar data batch to obtain m multiplied by c sets, wherein set_i1, set_i2, … … and set_im.
Step seven, from a metal cylindrical structure target set_i1, traversing any metal cylindrical structure target in the metal cylindrical structure target Set set_ij in sequence, searching a two-dimensional target in an area occupation ratio mode until any image img_ij finishes searching, and obtaining a three-dimensional metal cylindrical structure target Set as set_3d; specifically:
(11) Sequentially traversing the metal cylindrical structure targets in any metal cylindrical structure target Set set_ij from the metal cylindrical structure target set_i1,
(12) The Target of the s-1 metal column structure Target set is recorded as target_i (s-1) _p (s-1) ； p (s-1) Is an integer greater than 1 and less than the total number of targets of the s-1 th metal-based cylindrical structure target set; the Target target_i (s-1) _p (s-1) The corresponding position information in the area is rect_i (s-1) _p (s-1) S is more than 0 and less than or equal to j;
(13) The Target of the Target set of the s-th metal column structure is recorded as target_is_p s ；p s Is an integer greater than 1 and less than the total number of targets of the s-th metallic cylinder structure target set; the Target target_is/u s The corresponding position information of p in the region is Rect_is_p s ；
(14) Obtaining position information Rect_i (s-1) _p (s-1) And position information rect_is_p s Is the intersection area iSize of (2);
(15) Obtaining position information Rect_i (s-1) _p (s-1) And position information rect_is_p s Is the union area uSize of (2);
(16) And obtaining a ratio of the intersection area iSize to the union area uSize, and if the ratio is larger than a preset threshold value thresh, taking a value of 0.5. Then the two-dimensional targets detected by adjacent radar data bscan in the same radar data batch at the same position; until the two-dimensional detection result meeting the condition cannot be found in the next adjacent bscan picture or until the searching of the targets of all the bscan images of the current batch is completed, so that the searching of 1 three-dimensional target in the batch is completed, the target is marked as pip3d, and the two-dimensional target contained in the pip3d is deleted from the corresponding set;
(17) Repeating steps (11) through (16), searching the three-dimensional object for two-dimensional objects for all two-dimensional results of img_i1, img_i2, …; and repeatedly obtaining a two-dimensional target search in the range of 0 < i.ltoreq.c, and forming a target Set of the three-dimensional metal cylindrical structure, namely set_3d.
Eighth, synthesizing the three-dimensional metal cylindrical structure targets in which the three-dimensional metal cylindrical structure targets are Set to be set_3d to obtain the metal straight cylindrical structure. In this embodiment, a single three-dimensional object includes a set of physically adjacent two-dimensional objects, each having a center point, as can be seen from fig. 3, the two-dimensional objects of bscan of different batch, whose positions in the respective bscan images cannot be used to synthesize the three-dimensional object in a manner similar to the correspondence of bscan img in batch, and in particular, only the true positions of each three-dimensional object can be used:
step S31, arbitrarily taking two three-dimensional metal cylindrical structure targets from a three-dimensional metal cylindrical structure target set_3d, and marking the two three-dimensional metal cylindrical structure targets as a three-dimensional metal cylindrical structure target pip3d_a and a three-dimensional metal cylindrical structure target pip3d_b;
step S32, if the end point distance between the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b is smaller than a preset threshold value minEndDis, and the value is 0.3, fitting a three-dimensional straight line by using the center point coordinates corresponding to any two-dimensional target in the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b (namely, the center points of all two-dimensional targets contained in the two three-dimensional targets participate in the fitting straight line), wherein the method for fitting the three-dimensional straight line in the embodiment is the prior known method; otherwise, go to step S35;
in this step, a space straight line is represented by a point-vector type, a three-dimensional straight line is fitted by a least square method, and as shown in FIG. 9, a straight line is represented by a P point and a unit vector D of the P point along the straight line direction, and an arbitrary point P i The vector to P is denoted as V, then any point P i The distance to the straight line is denoted as V 2 -(V.D) 2 The symbol "." represents a dot product between vectors. And constructing a loss function in straight line fitting, wherein the expression is as follows:
wherein N represents the number of points;
the present embodiment optimizes the loss function using a gradient descent method to obtain an equation that fits a straight line.
Step S33, if the vertical distance between any two-dimensional object in the three-dimensional metal cylindrical structure object pip3d_a and the three-dimensional metal cylindrical structure object pip3d_b and the fitted three-dimensional straight line is smaller than the threshold value minDisToline, the value is 0.05. Synthesizing the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b into a three-dimensional target pip3d_new, and obtaining a metal straight cylindrical structure by utilizing the three-dimensional target pip3d_new; otherwise, go to step S35;
step S34, repeating the steps S31 to S33, storing the three-dimensional target pip3d_new into a data Set, updating to obtain a metal straight cylindrical structure until the three-dimensional metal cylindrical structure target comparison judgment of the three-dimensional metal cylindrical structure target set_3d is completed, and deleting the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b which correspond to the non-synthesized three-dimensional target pip3d_new; in this embodiment, the two-dimensional objects in the three-dimensional object pip3d_new are arranged by the two-dimensional objects in the three-dimensional metal cylinder structure object pip3d_a and the three-dimensional metal cylinder structure object pip3d_b according to the order of the two-dimensional objects on the fitted straight line. In this embodiment, after deleting the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b, putting the three-dimensional target pip3d_new into the set, wherein the whole process is to continuously detect, if two or more three-dimensional targets pip3d_new can synthesize a larger three-dimensional target, deleting the three-dimensional target pip3d_new corresponding to the larger three-dimensional target, and finally, any two remaining three targets in the set cannot be synthesized, and the set is the detected final result.
Step S35, obtaining another metal straight cylinder structure by utilizing the target composition of the three-dimensional metal straight cylinder structure of which the three-dimensional target pip3d_new is not synthesized, wherein in the embodiment, the three-dimensional target pip3d_new can be formed to obtain a metal straight cylinder structure; in addition, the three-dimensional metal cylindrical structure target which does not synthesize the three-dimensional target pip3d_new can also form another metal cylindrical structure.
The above embodiments are only preferred embodiments of the present application and are not intended to limit the scope of the present application, but all changes made by adopting the design principle of the present application and performing non-creative work on the basis thereof shall fall within the scope of the present application.
Claims (7)
1. The method for detecting the metal straight cylindrical structure in the multichannel ground penetrating radar data is characterized by comprising the following steps of:
in the region to be detected, adopting an m-channel ground penetrating radar to carry out grid-shaped turn-back detection for c times along the parallel direction to obtain m multiplied by c radar data bscan; m radar data bscan form a radar data batch; c radar data latches form radar data cscan of the area to be detected; the radar data cscan is equal to m multiplied by c radar data bscan; m and c are integers greater than 1;
preprocessing any radar data bscan, and performing visualization processing;
recording an image corresponding to the jth radar data bscan of the ith radar data batch as img_ij; i is more than 0 and less than or equal to c, j is more than 0 and less than or equal to m;
performing two-dimensional hyperbola detection on any image img_ij, obtaining k metal cylinder structure targets, and recording any metal cylinder structure Target as target_ij_u, wherein u is more than 0 and less than or equal to k; the metal cylindrical structure Target target_ij_u contains position information; the position information comprises the coordinates, width and height of a central point of a metal cylindrical structure Target target_ij_u in an image img_ij;
recording a metal cylindrical structure target Set in an image img_ij as set_ij, and performing two-dimensional hyperbolic detection on the jth radar data bscan of the ith radar data batch to obtain m multiplied by c sets;
from a metal cylindrical structure target Set set_i1, traversing any metal cylindrical structure target in the metal cylindrical structure target Set set_ij in sequence, searching a two-dimensional target in an area occupation ratio mode until any image img_ij finishes searching, and obtaining a three-dimensional metal cylindrical structure target Set as set_3d, wherein the method comprises the following steps:
sequentially traversing the metal cylindrical structure targets in any metal cylindrical structure target Set set_ij from the metal cylindrical structure target set_i1,
the Target of the s-1 metal column structure Target set is recorded as target_i (s-1) _p (s-1) ；p (s-1) Is an integer greater than 1 and less than the total number of targets of the s-1 th metal-based cylindrical structure target set; the Target target_i (s-1) _p (s-1) The corresponding position information in the area is rect_i (s-1) _p (s-1) S is more than 0 and less than or equal to j;
the Target of the Target set of the s-th metal column structure is recorded as target_is_p s ；p s Is an integer greater than 1 and less than the total number of targets of the s-th metallic cylinder structure target set; the Target target_is_p s The corresponding position information in the area is Rect_is_p s ；
Obtaining position information Rect_i (s-1) _p (s-1) And position information rect_is_p s Is the intersection area iSize of (2);
obtaining position information Rect_i (s-1) _p (s-1) And position information rect_is_p s Is the union area uSize of (2);
obtaining a ratio of the intersection area iSize to the union area uSize, and if the ratio is larger than a preset threshold value thresh, determining the ratio as a two-dimensional target for detecting adjacent radar data bscan in the same radar data batch at the same position;
until any image img_ij completes two-dimensional target searching, and the target Set of the three-dimensional metal cylindrical structure is set_3d;
synthesizing a three-dimensional metal cylindrical structure target Set which is a three-dimensional metal cylindrical structure target in set_3d to obtain a metal straight cylindrical structure, wherein the method comprises the following steps of:
step S31, arbitrarily taking two three-dimensional metal cylindrical structure targets from a three-dimensional metal cylindrical structure target set_3d, and marking the two three-dimensional metal cylindrical structure targets as a three-dimensional metal cylindrical structure target pip3d_a and a three-dimensional metal cylindrical structure target pip3d_b;
step S32, if the endpoint distance between the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b is smaller than a preset threshold value minEndDis, fitting a three-dimensional straight line by using the center point coordinates corresponding to any two-dimensional target in the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b; otherwise, go to step S35;
step S33, if the vertical distance between any two-dimensional object in the three-dimensional metal cylindrical structure object pip3d_a and the three-dimensional metal cylindrical structure object pip3d_b and the fitted three-dimensional straight line is smaller than a threshold value minDisToline, synthesizing the three-dimensional metal cylindrical structure object pip3d_a and the three-dimensional metal cylindrical structure object pip3d_b into a three-dimensional object pip3d_new, and obtaining a metal straight cylindrical structure by utilizing the three-dimensional object pip3d_new; otherwise, go to step S35;
step S34, repeating the steps S31 to S33, storing the three-dimensional target pip3d_new into a data Set, updating to obtain a metal straight cylindrical structure until the three-dimensional metal cylindrical structure target comparison judgment of the three-dimensional metal cylindrical structure target set_3d is completed, and deleting the three-dimensional metal cylindrical structure target pip3d_a and the three-dimensional metal cylindrical structure target pip3d_b which correspond to the non-synthesized three-dimensional target pip3d_new;
and S35, obtaining a metal straight cylinder structure by utilizing the target composition of the three-dimensional metal cylinder structure of which the three-dimensional target pip3d_new is not synthesized.
2. The method for detecting the metal-based right cylindrical structure in the multichannel ground penetrating radar data according to claim 1, wherein the three-dimensional straight line is fitted by a least square method.
3. The method for detecting a metallic right cylindrical structure in multi-channel ground penetrating radar data according to claim 1, wherein the threshold value thresh is 0.5.
4. The method for detecting a metallic right cylindrical structure in multichannel ground penetrating radar data according to claim 1, wherein the threshold minEndDis takes a value of 0.3.
5. The method for detecting a metal-based right cylindrical structure in multichannel ground penetrating radar data according to claim 1, wherein the threshold value minDisToline is 0.05.
6. The method of claim 1, wherein preprocessing any one of the radar data bscan includes adjusting zero bias, adjusting zero, filtering, and adjusting gain.
7. The method for detecting the metal-based right cylindrical structure in the multichannel ground penetrating radar data according to claim 1, wherein the FRCNN is adopted for two-dimensional hyperbola detection on any image img_i.
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