基于潜水器观测影像的深海底质图像拼接方法  

Image Mosaic Method of Deep-sea Substrate Based on Submersible Observation Images

作　　者：丁忠军 王兴宇 刘晨 马广洋 李德威 DING Zhongjun;WANG Xingyu;LIU Chen;MA Guangyang;LI Dewei(College of Ocean Science and Engineering,Shandong University of Science and Technology,Qingdao 266590,China;National Deep Sea Center,Qingdao 266237,China;College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266590,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]山东科技大学海洋科学与工程学院,山东青岛266590 [2]国家深海基地管理中心,山东青岛266237 [3]山东科技大学电气与自动化工程学院,山东青岛266590 [4]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《湖南大学学报（自然科学版）》2024年第12期98-106,共9页Journal of Hunan University:Natural Sciences

基　　金：国家重点研发计划资助项目(2017YFC0306600,2021YFC2802100);山东省重点研发计划项目(2020JMRH0101)。

摘　　要：深海潜水器的视野通常有限,仅凭单个视野的视频图像难以全面地观察周围海底情况,这为研究人员了解海底底质的整体分布增加了难度.针对上述问题,提出了一种基于深海潜水器影像的海底底质图像快速拼接方法.首先,基于通道补偿的图像增强技术对视频帧的红色通道进行校正,并进行亮度增强和CLAHE处理.接着,利用CUDA加速的SURF算法提取特征点和描述符,利用KD树算法初步匹配前后帧的特征点.然后,采用KNN分类算法消除误匹配,对筛选后的匹配点进行帧间运动估计,通过变换矩阵生成底图并拼接前后帧.最后,融合特征点坐标与帧间运动信息.重复上述过程,生成连续的拼接图像.实验验证采用“蛟龙号”在某航次获取的视频图像进行拼接处理,结果表明该方法具有较好的拼接效果,验证了其技术的可行性.The field of vision of deep-sea submersibles is usually limited,and it is difficult to comprehensively observe the surrounding seabed through the video image of a single field of vision,which makes it more difficult for researchers to understand the overall distribution of seabed substrate.To solve the above problems,this paper proposes a fast stitching method of seabed substrate image based on the deep-sea submersible image.Firstly,the red channel of the video frame is corrected based on the image enhancement method of channel compensation,and the brightness enhancement and CLAHE processing are carried out.Secondly,the CUDA accelerated SURF algorithm is used to extract feature points and descriptors,and the KD tree algorithm is used to initially match the feature points of the front and back frames.Then,the KNN classification algorithm is used to eliminate the mismatching,and the interframe motion estimation is carried out for the screened matching points.The base map is generated through the transformation matrix and the front and rear frames are spliced.Finally,the feature point coordinates and interframe motion information are fused,and the above process is repeated to generate a continuous mosaic image.The video images obtained by“Jiaolong”in a certain voyage are used for mosaic processing experiments.The results show that this method has a good mosaic effect,and its feasibility is verified.

关 键 词：深海潜水器 海底底质图像 水下图像增强 快速图像拼接 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]