An Image Enhancement of Underwater Three-dimensional Sonar Image Based on ICP
The 3-D imaging sonar(3DIS)image quality is poor,manifested as sparse and missing of target surface points,owing to complex underwater environment and hardware limitation of sonar.To improve the quality of the image,we propose a target enhance-ment method based on registration and merge.The ICP(Iterative Closet Point)algorithm is a classical point cloud alignment algo-rithm,whose is an iterative optimization method for aligning two or more point cloud datasets.The ICP method can be used directly with point cloud data and has the advantage of being simple to implement and fast to iterate.The algorithm in the paper enhances the point cloud by superimposing multi-frame point clouds by means of alignment and fusion,which can improve the problem of sparse and missing target point clouds.Experimental results demonstrate that our proposed enhancement method can effectively enhance the object result,improve the quality and understandability of the 3DIS image.
万方数据
维普
