基于加权融合的水下视觉图像增强算法  

Image enhancement algorithm for underwater vision based on weighted fusion

作　　者：奔粤阳 汤瑞 戴平安 李倩 BEN Yueyang;TANG Rui;DAI Ping’an;LI Qian(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《北京航空航天大学学报》2024年第5期1438-1445,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(51979047);黑龙江省自然科学基金(YQ2021E011);中央高校基本科研业务费专项资金(3072021CFT0403)。

摘　　要：针对水下视觉同步定位与地图构建(SLAM)前端特征提取与特征匹配效果差的问题,提出一种用于水下视觉SLAM前端的基于加权融合的图像增强算法。该算法建立在2个图像的融合处理基础上,第1个图像经过基于自适应伽马校正和动态范围拉伸的水下图像亮度增强处理,第2个图像经过基于颜色判断和颜色补偿的灰度世界白平衡处理;通过计算2个图像的显著性权重和饱和性权重,对输入图像进行线性加权融合,得到最终的增强图像。通过水下彩色图像质量评价(UCIQE)和水下图像质量测量(UIQM)方法评估无参考水下增强图像质量,并用南卡罗来纳大学开源数据集测试所提算法的应用效果,结果表明:处理后,水下图像质量高、提取特征点数目多,可以显著提高水下视觉SLAM前端特征提取与特征匹配的效果。Aiming at the problem of poor feature extraction and feature matching in the underwater visual simultaneous localization and mapping(SLAM)front end,an image-enhanced algorithm based on weighted fusion is proposed for the underwater visual SLAM front end.Specifically,the algorithm is based on the fusion of two images:the second image is a white balance of gray world based on color judgment and color compensation,and the first image is an underwater image from brightness enhancement based on adaptive gamma correction and dynamic range expansion.Furthermore,the saliency weight and saturation weight of the two images are calculated,and the input images are linearly weighted and fused to obtain the final enhanced image.The system is tested using an open-source dataset from the University of South Carolina,and the improved underwater image quality is assessed using the techniques of underwater color image quality evaluation(UCIQE)and underwater image quality measurement(UIQM).Consequently,the results show that the processed image has the characteristics of high quality and a large number of extracted feature points,which can significantly improve the effect of front end feature extraction and feature matching of underwater visual SLAM.

关 键 词：同步定位与地图构建 水下图像增强 亮度增强 颜色补偿 图像融合 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计] TP242.6[自动化与计算机技术—检测技术与自动化装置]