Research On Laser Imaging Denoising Method Of Underwater Robot

Underwater laser technology has important practical value in the development of marine resources.However,due to the particularity of seawater composition,the image obtained by underwater imaging technology is subject to various interference factors,resulting in a decreased clarity.In order to improve the quality of underwater imaging and the imaging effect,the specific processing technology must be adopted for noise reduction before and after imaging.Firstly in this paper,the transmission characteristics of light in water are analyzed,and the underwater scattering model of light is built to analyze the backscattering in detail.Based on several commonly used imaging techniques introduced in this paper,the range gated imaging model and mathematical model are established for distance gating imaging,by which the influence of different parameters on the imaging effect is summarized by calculation and analysis.Further,by proposing the scheme of the distance gating synchronous control device,the imaging system of the underwater robot is designed,giving the relevant hardware and software design.Then the main image processing technology and the commonly used image enhancement algorithm are mentioned.The wavelet denoising algorithm is emphatically analyzed,and a threshold denoising algorithm based on variance correction in wavelet domain is proposed,giving its working principle.At last,the experimental structure of the distance gated imaging system is described,and the relevant conclusions are obtained through the implementation of the imaging experiment.Moreover,the commonly used filtering algorithm and the denoising algorithm proposed in this paper are simulated by Matlab respectively to compare the related evaluation indexes.