Journal of Jilin University(Engineering and Technology Edition) ›› 2022, Vol. 52 ›› Issue (1): 180-186.doi: 10.13229/j.cnki.jdxbgxb20200783

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Realtime mosaic and visualization of 3D underwater acoustic seabed topography

Zhi-hua LI(),Ye-chao ZHANG,Guo-hua ZHAN   

  1. College of Information Science and Engineering，Hangzhou Normal University，Hangzhou 311121，China
  • Received:2020-10-15 Online:2022-01-01 Published:2022-01-14

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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

CLC Number: 

  • TP391

Fig.1

128×128 digital beam of sonar receiver"

Fig.2

Realtime registration and mosaic for 3D under water acoustic seabed topography"

Fig.3

Rasterization for sonar image"

Fig.4

Peak redundancy removal"

Fig.5

Two points fusion in the same side and direction"

Fig.6

Virtual point generation in fusion process"

Fig.7

Index decision method"

Fig.8

3D acoustic system prototype and structure"

Fig.9

Comparison of registration residual"

Fig.10

Registration and mosaic results"

Fig.11

3D acoustic image mosaic sequence of Qiaodao Lake bottom"

Fig.12

Frame rate comparison of sonar image mosaic"

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