三维水声海底地形地貌实时拼接与可视化

doi:10.13229/j.cnki.jdxbgxb20200783

摘要/Abstract

摘要：

提出了一种水声海底地形地貌实时拼接与可视化方法，系统利用差分GPS定位仪和姿态仪获得声呐换能器载体的平移与旋转矩阵信息作为迭代初始参数，消除三维水声相邻帧图像配准过程中的迭代耗时和失配现象。通过配准矩阵将相邻两帧声学图像转换到同一坐标系后，在拼接之前将声呐数据网格化，获得插值点声学图像数据。为了生成声学图像可视化兼容数据集，对声学图像中的尖峰冗余点进行剔除，同时系统采用多线程并行处理和GPU三维图像渲染加速架构，均衡多个CPU核之间的负载，并利用GPU和VTK库对三维图像渲染加速。室内水池和湖试实验表明：该方法有效地实现了三维水声地形地貌的实时拼接与可视化。

关键词: 人工智能, 图像拼接, 海洋测绘, 水声监测

Abstract:

In this paper， a real-time mosaicing and visualization method for phased-array 3D acoustic topography is proposed. The translation and rotation matrix of sonar transducer carrier are obtained by differential GPS and attitude instrument as the initial iteration parameter， which eliminates the iteration time-consuming and mismatch problem. The obtained registration matrix converts the two adjacent acoustic images into the same coordinate system. Then the reference grid is used to rasterize the acoustic images to obtain cross point. In order to generate compatible data sets for surface reconstruction and reduce the computational complexity of mosaicking and reconstruction， the peak redundancy points in acoustic images are deleted. In order to accelerate mosaicing speed， the system adopts multi-thread parallel processing and GPU 3D image rendering acceleration architecture to balance the load between multiple CPU cores， and then uses GPU and VTK library to accelerate 3D image rendering. The results of indoor pool and lake experiments show that the method can effectively realize the real-time mosaicing and visualization of 3D acoustic topography.

Key words: artificial intelligence, image mosaic, marine surveying and mapping, underwater acoustic detection

中图分类号:

TP391

李志华,张烨超,詹国华. 三维水声海底地形地貌实时拼接与可视化[J]. 吉林大学学报(工学版), 2022, 52(1): 180-186.

Zhi-hua LI,Ye-chao ZHANG,Guo-hua ZHAN. Realtime mosaic and visualization of 3D underwater acoustic seabed topography[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(1): 180-186.

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