| With the increasing reduction of non-renewable resources on land,people gradually shift the attention of resource exploration to the ocean.In the development of ocean exploration technology,the technology of visual reconstruction of underwater environment is an important part of ocean exploration technology.In order to solve the problem of three-dimensional reconstruction of two-dimensional sonar image,this paper constructs a method to solve the target pitch angle in sonar coordinate system and restore the target height by using the information of target and shadow in the image.Firstly,the sonar image is preprocessed by filtering,smoothing,denoising and other related operations,and then the position of the target and the corresponding shadow can be detected by sharpening spatial filter using gradient operation.According to the grayscale characteristics of the target,shadow and seafloor in the sonar image,the trailing edge position of the target,the front position of the target and the trailing edge position of the shadow can be obtained by the method of gradient threshold screening.According to the pixel position of these special points and using the combination of spatial analytic geometry and singular value decomposition or linear regression to solve the seafloor plane normal vector,and then calculate the pitch angle,and finally get the height information of the target.In this paper,the error of the three-dimensional reconstruction algorithm discussed is simulated and analyzed by using the Monte Carlo method,and the experiment is carried out by using the pool to simulate the seafloor,and the height restoration and three-dimensional reconstruction of several targets in the pool scene are carried out.The MAPE of the reconstruction result is about 10.7%.In this paper,the method successfully realizes the restoration of the three-dimensional height of the seafloor target,and realizes the goal of threedimensional reconstruction of the simulated seafloor. |
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