KR20130096432A - A system and method for generating underwater geospatial information using the ground slope under the sea - Google Patents
A system and method for generating underwater geospatial information using the ground slope under the sea Download PDFInfo
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- KR20130096432A KR20130096432A KR1020120017867A KR20120017867A KR20130096432A KR 20130096432 A KR20130096432 A KR 20130096432A KR 1020120017867 A KR1020120017867 A KR 1020120017867A KR 20120017867 A KR20120017867 A KR 20120017867A KR 20130096432 A KR20130096432 A KR 20130096432A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H5/00—Measuring propagation velocity of ultrasonic, sonic or infrasonic waves, e.g. of pressure waves
Abstract
According to an aspect of the present invention, there is provided an apparatus including: an error remover configured to set a search area of multi-beam sonic measurement data received through a server and to remove error data exceeding a preset error value range based on coordinate values of surrounding points in the search area; But classified into the face error by the data to perform a filtering process for a multi-beam acoustic measurement data to remove the sea floor bottom surface data than the data, the filtering process, and then the formula (R ij - R l _ min> T, where: R ij indicates an arbitrary cell in a specific region, R l _ min indicates a minimum height value within a specific region at the l < th > number of times, and T denotes a first threshold value, wherein the first threshold value is represented by Equation T. = sM l A first filtering part performed by s represents a maximum inclination of the target area and M l represents a window size of an iteration number of times; A data extraction unit for extracting the; Computing a variable for the continuity search of the bottom surface data from the extracted bottom surface data, wherein the variable is
Description
The present invention relates to a system and method for generating seabed topographical information using a slope of sea floor data.
Recently, as the necessity and importance of marine resource management such as marine geology and territorial sea management have increased, technologies for acquiring rapid and accurate marine spatial information have been advanced. It is being used to build.
The field of using marine spatial information is as much interest as land and spatial information, and using this, Google and Microsoft provide internet-based three-dimensional undersea map service. In addition, the software industry market that can process marine spatial information acquired by using acoustic or laser is contributing to creating applications of spatial information-based technology by combining diversity and expertise.
To create realistic and accurate spatial information effectively by using tools for more accurate acquisition and analysis of subterranean geodetic survey data, marine geological survey information, aerial laser survey information, underwater sound system information, etc. For this purpose, analytical techniques using information acquired through multibeam and site sonar scans are increasing.
To generate more realistic and accurate underwater and terrestrial spatial information using more accurate analysis tools such as multibeam and side sonar stan, side sonar scan image and aerial lidar survey data, which are basic data of underwater or ground spatial information Analysis techniques using side sonar or scan photos are increasing. Multibeam sonic survey data provides accurate three-dimensional sea floor coordinates in the form of points, but does not provide rich texture information. Therefore, in order to provide more accurate and realistic submarine geospatial information, it is necessary to complement or fuse the disadvantages of side sonar scan or multibeam sonic survey data.
In the present invention, it is intended to produce a higher quality numerical submarine topographical map using multibeam sonic measurement data.
In addition, the present invention is to effectively classify the bottom data compared to the bottom data through the filtering of the multi-beam acoustic wave measurement data.
In addition, the present invention, to reflect the inclination of the bottom surface data to obtain more accurate bottom surface data.
In addition, the present invention is to obtain a clearer image information through the image post-processing process obtained from the side sonar scan.
In addition, the present invention is to provide a method that can fuse the advantages of the image obtained by the side sonar scan and the multi-beam sonic measurement data.
In addition, the present invention is to provide a more accurate seabed geospatial information by using the image obtained by the side sonar scan and the multi-beam acoustic wave survey data.
The present invention provides a multi-beam acoustic wave measurement data receiving unit for receiving multi-beam acoustic wave measurement data through a server; An error remover configured to set a search area of the received multi-beam acoustic wave survey data and to remove error data exceeding a preset error value range based on coordinate values of surrounding points in the search area; But classified into the face error by the data to perform a filtering process for a multi-beam acoustic measurement data to remove the sea floor bottom surface data than the data, the filtering process, and then the formula (R ij - R l _ min> T, where: R ij indicates an arbitrary cell in a specific region, R l _ min indicates a minimum height value within a specific region at the l < th > number of times, and T denotes a first threshold value, wherein the first threshold value is represented by Equation T. = sM l A first filtering part performed by s represents a maximum inclination of the target area and M l represents a window size of an iteration number of times; A data extraction unit for extracting the; Computing a variable for the continuity search of the bottom surface data from the extracted bottom surface data, wherein the variable is
Also, in the present invention, the filtering process may be performed by obtaining a minimum value among height values of a point within a specific area, setting only points having a height value larger than the minimum value as a comparison target value, and then setting the comparison target value to a preset value. When the value is greater than one threshold, the data is classified into the bottom data, and when the comparison target value is less than or equal to the predetermined first threshold value, the data is classified into the bottom data.
In the present invention, the inclination factor is characterized in that it has a value of 0.7.
When constructing two-dimensional or three-dimensional spatial information through embodiments of the present invention, it is possible to derive an improved high quality analysis result by providing more accurate and high resolution underwater geospatial information. According to the present invention, a more accurate three-dimensional undersea geospatial information system can be constructed by acquiring undersea geospatial information through filtering of multi-beam acoustic wave survey data.
In addition, by providing a method that can fuse the advantages of the side sonar scan image and the multi-beam sonic measurement data, it is possible to produce a high-quality seabed topographic map.
1 is a schematic block diagram of a three-dimensional spatial information construction system to which the present invention is applied.
2 is a schematic block diagram of a multi-beam acoustic wave measurement data acquisition unit 211 for acquiring multi-beam acoustic wave measurement data according to an embodiment to which the present invention is applied.
3 is a schematic block diagram of a
4 is a schematic block diagram of a data classifying unit 310 according to an embodiment to which the present invention is applied.
FIG. 5 is a schematic block diagram of the bottom
FIG. 6 illustrates an embodiment to which the present invention is applied to explain a method for generating a three-dimensional sea level numerical elevation model from sea floor data.
7 is a schematic block diagram of the bottom data acquisition unit 330 as an embodiment to which the present invention is applied.
FIG. 8 is a flowchart illustrating a method of extracting bottom data from the bottom data from multi-beam sonic measurement data according to an embodiment to which the present invention is applied.
Hereinafter, the configuration and operation of the embodiments of the present invention with reference to the accompanying drawings, the configuration and operation of the present invention described by the drawings will be described as one embodiment, whereby the technical spirit of the present invention And its core composition and operation are not limited.
In addition, the term used in the present invention is intended to include,
, But the specific case is explained by using the terminology arbitrarily selected by the applicant. In such a case, the meaning is clearly stated in the detailed description of the relevant part, so it should be understood that the name of the term used in the description of the present invention should not be simply interpreted and that the meaning of the corresponding term should be understood and interpreted . In particular, in the present specification, data or information is a term that encompasses values, parameters, coefficients, elements, and the like, and in some cases, the meaning is interpreted differently. Can be.
Geospatial Information Systems Under The Sea is an information system that integrates and processes geographic information that occupies spatial location on the sea floor and related attribute data to efficiently collect, store, It can be defined as the collective organization of hardware, software, geographic data, and human resources used to update, process, analyze, and print. According to the use of the seafloor geospatial information system, various applications of spatial information have been facilitated. In addition, it is possible to generate three-dimensional undersea geospatial information about the target area by using a predetermined level of undersea terrain information, side sonar scan images, and marine digital topographic maps. Dimensional analysis is now possible. Therefore, the embodiments for generating more efficient three-dimensional marine geospatial information will be described.
1 is a schematic block diagram of a three-dimensional undersea geospatial information construction system to which the present invention is applied.
Referring to FIG. 1, the 3D undersea geospatial information construction system 100 includes a data receiver 200, a
The data receiver 200 includes a multi-beam acoustic wave measurement data receiver 210 and a side sonar scan image data receiver 220. Here, the multi-beam acoustic wave measurement data refers to information related to the point where the echo sounder is mounted on the vessel to scan sound waves on the ground surface and is reflected using the arrival time of the reflected sound waves. For example, the distance between the position coordinate value by the sonic echo sounder, the rotational error information of the X-axis or the Y-axis, the coordinate value of the entry point of the multi-beam sonic survey data, and the outermost ground survey coordinate value of the building. Information, scale correction factors, and constant height difference information between the ground reference point and the multi-beam sonic measurement data. The side sonar scan image data means two-dimensional coordinate information and attribute information that can be obtained from the side sonar scan image. For example, internal facial expression information, which is a variable used to calculate the physical coordinate system of the camera in a pixel coordinate system of a side sonar scan image, mutual facial expression information, which is a variable used when generating a stereoscopic model, and a position on a side sonar scan image Absolute facial expression information, mutual facial expressions, and absolute facial expressions, variables used when calculating ground coordinates, are external variables, which are constants of equations used to calculate ground coordinates corresponding to arbitrary positions on the side sonar or scanned image when the expression is completed. May contain facial expression elements.
The multi-beam acoustic wave survey data receiving unit 210 receives multi-beam acoustic wave survey data from the multi-beam acoustic wave survey data acquisition unit 211, and the side sonar scan image data receiving unit 220 receives side sonar scan image data and a user input. Receive a value and the like. In this case, the data may be transmitted through a server. Although not shown in FIG. 1, the multi-beam acoustic wave measurement data acquisition unit 211 may be included in the three-dimensional undersea geospatial information construction system 100 to which the present invention is applied. The multi-beam acoustic wave measurement data acquisition unit 211 will be described in more detail with reference to FIG. 2.
The
According to an embodiment of the present invention, the data classifying unit 310 of the
When the multi-beam acoustic wave survey data is input from the data receiver 200, the
In another embodiment of the present invention, the bottom
The three-dimensional undersea geospatial information generator 340 may generate more accurate three-dimensional undersea geospatial information using the digital elevation model obtained from the
The database unit 140 stores multi-beam sonic measurement data and side sonar scan image data, and provides information necessary when the
The
2 is a schematic block diagram of a multi-beam acoustic wave measurement data acquisition unit 211 for acquiring multi-beam acoustic wave measurement data according to an embodiment to which the present invention is applied.
The multi-beam acoustic wave measurement data acquisition unit 211 may include a sound wave measurement unit 212, a reference
The sound wave surveying unit 212 can maximize the distance between the sea bottom and the ship. That is, it is possible to measure the distance from the launch point of the sound wave to the topography of the reflected seabed and the bottom of the seabed. For example, it is possible to determine the three-dimensional position of the reflection point by recording the time reflected by scanning the sound wave pulse on the sea floor at a constant altitude. The sound wave measurement unit 212 may include, for example, a fixed sound wave generator having a sound wave scanning angle of 0 degrees, or may include a sound wave generator having a high density. The reference
The data obtained from the sound wave surveying unit 212, the reference
On the other hand, since the obtained data includes a mechanical error or a stochastic error, it is necessary to correct this. Therefore, the data correction unit 215 may correct the data for accuracy, efficiency, and freshness of the obtained data. The data corrector 215 may include a rotation amount corrector 215-1, a scale corrector 215-2, and a height corrector 215-3.
The rotation amount correction unit 215-1 may correct an error in the rotation amount of the Y axis that occurs during the multi-beam sound wave survey. For example, the error value of the Y-axis rotation amount may be corrected by measuring a distance between a coordinate value of the entry point of the multi-beam acoustic wave survey data and a coordinate value of the outermost ground surveying building. At this time, the sign of the correction amount of the rotation amount error value may vary depending on the navigation direction.
The rotation amount correction unit 215-1 may correct an error in the rotation amount of the X-axis that occurs during the multi-beam sound wave survey. When the sound wave pulse is scanned from side to side orthogonally to the navigation direction at a constant scan width, the positional information may vary greatly according to a change in the amount of rotation of the X axis.
In addition, the scale correction unit 215-2 may correct the scale of the distance measurement generated during the multi-beam sonic measurement. In the present invention, the scale correction may be performed in a form orthogonal to the site sonar or the scanned image.
In addition, the height correction unit 215-3 may correct a difference in a constant height value between the side sonar scan image and the multibeam sound wave survey data. In the present invention, the multi-beam acoustic wave measurement data may be corrected to have the same height value as that of the side sonar scan image.
The corrected data can be composed of more accurate input data for constructing 3D subterranean geospatial information, thereby producing more sophisticated and high-quality subsurface numerical elevation models.
3 is a schematic block diagram of a
Referring to FIG. 3, the
The data classifying unit 310 removes an error from data received from the multi-beam acoustic wave measurement data receiving unit 210 or the side sonar scan image data receiving unit 220 and applies a filtering process to the bottom data compared to the bottom data. Can be classified as
The bottom
The non-bottom data acquisition unit 330 may generate other data other than the seabed surface from the classified non-bottom data. For example, contour lines may be extracted from the non-base data and selected as other data. The other data of the target object may be obtained by linearizing the selected other data and converting the selected other data into a polygonal shape.
The data classifying unit 310, the bottom
4 is a schematic block diagram of a data classifying unit 310 according to an embodiment to which the present invention is applied.
The data classifier 310 may include an
The
The
Here, R ij indicates an arbitrary cell in the specific region, and R l _ min indicates the minimum height value in the specific region in the iteration number lth. In addition, T represents a threshold value, where the threshold value may be a value measured by an experiment or may mean the minimum value. The threshold value T may be determined by Equation 2 below.
Here, s represents the maximum inclination of the target area, and M l represents the window size of the first iteration number.
By performing an iterative operation through the above process, the data extraction unit 313 can gradually classify and extract the bottom data compared to the bottom data.
FIG. 5 is a schematic block diagram of the bottom
The bottom
The
Here, H represents the height variable, Max (h) represents the height value of the highest point in the grid, Min (h) represents the height value of the lowest point, L represents the size of the grid.
The
The
Here, mod_H represents a modified height variable, H represents an already obtained height variable, θ represents an inclination angle, and C represents an inclination factor. At this time, the inclination factor (C) may be a value in consideration of the inclination of the general actual slope topography, for example, may have a value of 0.7 according to this experiment. By modifying the inclination of the inclined topography by Equation 4, it is possible to obtain a modified variable mod_H. The modified variable mod_H thus obtained is transmitted to the
The data determining unit 324 receives only the data determined to be suitable as the bottom data through the
FIG. 6 illustrates an embodiment to which the present invention is applied to explain a method for generating a numerical elevation model from sea floor data.
First, the sea level elevation information can be extracted from the numerical elevation model stored in the
As such, surface areas can be created for each point within the seabed elevation boundary, and the surface areas can be grouped into a single subsurface surface group based on the edge length and height difference between the surface areas. For example, the criteria for grouping into subsea surface populations can be set to connectivity and relative protrusion between two adjacent surface regions. Here, the connectivity is to find the edges adjacent to each other in the two regions, and to calculate the degree of connectivity between them, the closer the distance between the edges, the longer the length of each edge, and the point of the region containing the edge The denser the density, the higher the connectivity can be defined. The connectivity may be defined as in Equation 5 below.
Where θ c (S 1 , S 2 ) is S 1 and S 2 Indicates connectivity between S 1 and S 2 Each represents a surface area. θ c (S 1 / S 2 ) is S 2 S 1 based on surface area The degree of connection with the surface area is shown.
In addition, the protrusion may be calculated based on a vertical height difference between two horizontally adjacent regions, and may be set based on finding adjacent edges of two regions and their vertical height differences. The protrusion may be defined as in Equation 6 below.
As in Equation 6, the protrusion may be defined as the sum of protrusions with all adjacent regions S k , which is calculated by considering the length of the edge closest to the region and the height difference between the region and the other region. Can be. Where θ elev Represents the protruding from all regions, L (e i ) represents the length of the edge closest to the region, and D (e i , 1 , e j , k , z) is between the region and the other region. Indicates the height difference.
The 3D numerical elevation model can be generated using the points forming the grouped road surface group and the sea level elevation boundary information. At this time, since the boundary of the seabed elevation group is irregular, the boundary point data can be smoothly corrected using the seabed numerical elevation boundary.
Referring to FIG. 6, the black points in FIG. 6 represent seabed numerical elevation boundary points of the multibeam sonic survey data. The outermost points connected by the thick dotted line may be referred to as the multi-beam acoustic wave measurement data boundary point 401 which can be known from the multi-beam acoustic wave measurement data. Then, the seabed numerical elevation model 402 is repaired from the multi-beam acoustic wave survey data boundary point 401. In this case, the generated intersection may be referred to as a newly generated numerical elevation
7 is a schematic block diagram of the bottom data acquisition unit 330 as an embodiment to which the present invention is applied.
The comparison bottom data obtaining unit 330 may include a second filtering unit 331, a polygon generating unit 332, and a weight center obtaining unit 333.
The second filtering unit 331 may extract other data from the bottom surface data received from the data classifying unit 310. For example, a local maximum filtering method may be applied as the second filtering process. The local maximum filtering method is a method of dividing other data in a vector domain. The local maximum filtering method may be used as it is without interpolating multibeam acoustic wave measurement data having a point format of a raw material.
In addition, the polygon generator 332 may generate a unit polygon from the extracted other data using an irregular triangular network (TIN) model. Area conditions can then be used to isolate other data that is more accurate.
The center of gravity acquisition unit 333 may acquire an external expression element of a side sonar or scan image by using a center of gravity that is a point representing a polygon composed of point data among other acquired data. For example, if there is an arbitrary polygon and the outline of the arbitrary polygon is expressed as a function of (x (t), y (t)), the area A of the polygon surrounded by the outline is same.
At this time, x (t) is approximated to 0.5 (x (t + 1) + x (t)) and y (t) to 0.5 (y (t + 1) + y (t)), and x '( If we approximate t) as (x (t + 1)-x (t)) and y '(t) as (y (t + 1)-y (t)), the equation 5 for the coordinate function It can be written as Equation 8 below by discrete coordinate pairs.
At this time, the coordinate of the center of gravity of the polygon can be obtained by the following equation (9).
If Equation 9 is rearranged in the form of coordinate pairs, the coordinate of the center of gravity is expressed as Equation 10 below.
On the other hand, since the side sonar scan image is rich in GRB image information that is easy to visually identify, the center of gravity can be obtained by manually acquiring image coordinates for the bottom data, and then calculating the area. The height value of the center of gravity of the non-base data obtained from the multi-beam acoustic wave measurement data may be obtained by interpolating the height values of the point data constituting the non-base data from an irregular triangular network model.
As described above, the non-bottom data acquisition unit 330 may use the center of gravity to find a common object between the side sonar scan image and the multi-beam acoustic wave survey data. In addition, the external facial expressions of the side sonar or the scanned image are calculated using the center of gravity as reference information and transmitted to the digital map generator (not shown) or the 3D undersea geospatial information generator 340, and the digital elevation model is generated. The unit generates a digital elevation model based on the external facial expression elements, and the three-dimensional undersea geospatial information generator 340 generates a three-dimensional non-surface numerical elevation model using the external facial expression elements.
In another embodiment to which the present invention is applied, the
An embodiment of applying an image processing function in a side sonar image post-processing process will be described. For example, a method of image processing in consideration of inverse filtering in the YUV domain will be described. Since each pixel has all RGB values, it is possible to perform image processing on a luminance channel by converting from an RGB domain to a YUV or YCbCr domain. For example, a case of processing an image by converting to a YUV channel will be described. The high frequency component of the Y channel can be obtained by filtering with a high pass filter in the Y channel. The relational expressions are shown in Equations 11 and 12.
Here, Y '(i, j) refers to a high frequency component obtained at the (i, j) position of the Y channel. HF y (i, j) represents the high frequency component in the Y channel, and H HPF is a high pass filter. When using α, β, and γ, high frequency components can be adjusted according to regions. As a result, a more natural image can be obtained, and deterioration due to unwanted noise can be prevented. The image enhancement may be performed by using the high frequency component obtained from the Y channel as shown in Equation 13.
here
Image enhancement is performed only on the Y channel and not on the U and V channels. The improved Y channel value and the original U and V channel values are inversely transformed into the RGB domain to finally obtain an improved image.
FIG. 8 is a flowchart illustrating a method of extracting bottom data from the bottom data from multi-beam sonic measurement data according to an embodiment to which the present invention is applied.
First, the multibeam sound wave survey data receiving unit 210 receives multibeam sound wave survey data through a server (S810).
The
The
The data extraction unit 313 extracts the seabed data and the non-bottom data classified as described above, and generates three-dimensional seabed geospatial information by using the seabed data and the non-bottom data.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined by the appended claims. , Substitution or addition, or the like.
Claims (1)
But classified into the face error by the data to perform a filtering process for a multi-beam acoustic measurement data to remove the sea floor bottom surface data than the data, the filtering process, and then the formula (R ij - R l _ min> T, where: R ij indicates an arbitrary cell in a specific region, R l _ min indicates a minimum height value within a specific region at the l < th > number of times, and T denotes a first threshold value, wherein the first threshold value is represented by Equation T. = sM l It is determined by, wherein s represents the maximum inclination of the target area, M l represents the window size of the l-th iteration number);
A data extraction unit for extracting the classified sea bottom data and the non-bottom data;
Computing a variable for the continuity search of the bottom surface data from the extracted bottom surface data, wherein the variable is
If the calculated variable is greater than the second predetermined threshold value, the data of the grid is judged to be inappropriate bottom surface data and is transmitted to the inclination determination unit. If the calculated variable is smaller than or equal to the preset second threshold value, the suitable bottom surface A threshold comparison unit judged as data and transmitted to the data determination unit;
An inclination determination unit for calculating an inclination of the transmitted inappropriate sea bottom data and transmitting the inclination to the variable calculating unit;
The following equation reflects the inclination received from the inclination determination unit
If the modified variable is larger than the preset second threshold value, it is determined to be inappropriate sea bottom data again, and the above process is repeated. If the modified variable is smaller than or equal to the preset second threshold value, suitable bottom data The threshold comparison unit determines that the transmission to the data determination unit;
A data determination unit which determines data received from the threshold comparison unit as final bottom surface data; And
It includes a three-dimensional undersea geospatial information generating unit for generating three-dimensional undersea geospatial information using the sea floor data,
The filtering process obtains a minimum value among height values of a point in a specific area, sets only points having a height value greater than the minimum value as a comparison target value, and then, when the comparison target value is larger than a predetermined first threshold value. 3D seafloor geospatial information construction system using multi-beam acoustic wave survey data filtering, characterized in that classified into the bottom surface data, and if the comparison target value is less than or equal to the predetermined first threshold value, classified as the bottom surface data. .
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| KR1020120017867A KR20130096432A (en) | 2012-02-22 | 2012-02-22 | A system and method for generating underwater geospatial information using the ground slope under the sea |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103632392A (en) * | 2013-11-21 | 2014-03-12 | 华东师范大学 | Video-based sea wave scene generation method |
| KR20190139522A (en) * | 2018-06-08 | 2019-12-18 | 포항공과대학교 산학협력단 | Method and Underwater Robot for Reconstruction of Three-Dimensional Shape of Underwater Object using Sonar Image Data |
| CN111161123A (en) * | 2019-12-11 | 2020-05-15 | 宝略科技(浙江)有限公司 | Decryption method and device for three-dimensional live-action data |
| KR20220095038A (en) * | 2020-12-29 | 2022-07-06 | 한국해양과학기술원 | Method and apparatus for determination a working point on the seabed |
| KR20220162487A (en) * | 2021-06-01 | 2022-12-08 | 국방과학연구소 | Meghod and apparatus for generating digital building and terrain model, computer-readable storage medium and computer program |
-
2012
- 2012-02-22 KR KR1020120017867A patent/KR20130096432A/en not_active Application Discontinuation
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103632392A (en) * | 2013-11-21 | 2014-03-12 | 华东师范大学 | Video-based sea wave scene generation method |
| CN103632392B (en) * | 2013-11-21 | 2016-06-29 | 华东师范大学 | A kind of wave scene generating method based on video |
| KR20190139522A (en) * | 2018-06-08 | 2019-12-18 | 포항공과대학교 산학협력단 | Method and Underwater Robot for Reconstruction of Three-Dimensional Shape of Underwater Object using Sonar Image Data |
| CN111161123A (en) * | 2019-12-11 | 2020-05-15 | 宝略科技(浙江)有限公司 | Decryption method and device for three-dimensional live-action data |
| CN111161123B (en) * | 2019-12-11 | 2022-09-27 | 宝略科技(浙江)有限公司 | Decryption method and device for three-dimensional live-action data |
| KR20220095038A (en) * | 2020-12-29 | 2022-07-06 | 한국해양과학기술원 | Method and apparatus for determination a working point on the seabed |
| KR20220162487A (en) * | 2021-06-01 | 2022-12-08 | 국방과학연구소 | Meghod and apparatus for generating digital building and terrain model, computer-readable storage medium and computer program |
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