CN112882037A - Side-scan sonar sea bottom line detection method and device - Google Patents
Side-scan sonar sea bottom line detection method and device Download PDFInfo
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- CN112882037A CN112882037A CN202110465610.9A CN202110465610A CN112882037A CN 112882037 A CN112882037 A CN 112882037A CN 202110465610 A CN202110465610 A CN 202110465610A CN 112882037 A CN112882037 A CN 112882037A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The embodiment of the application provides a side-scan sonar sea bottom line detection method and device, and the method comprises the following steps: acquiring port echo data and starboard echo data within a preset time range; acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range; acquiring a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point; selecting a first candidate seabed point from the at least one first peak point based on a first SSIM index, and selecting a second candidate seabed point from the at least one second peak point based on a second SSIM index; and obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point. The embodiment of the application realizes accurate detection of the submarine line under the complex marine environment.
Description
Technical Field
The application belongs to the technical field of submarine line detection, and particularly relates to a method and a device for detecting a submarine line by side scan sonar.
Background
Side Scan Sonar (SSS) is a device that uses the echo depth measurement principle to detect objects and sea floor structures, and emits and digitizes sound pulses through two transducers installed on both sides of an SSS trawler, and the SSS displays the echo energy intensity along a time line to obtain continuous images of the sea floor. The side scan sonar can present a highly refined image, can display the existence of an object, can display the material type of the object, and is widely applied to aspects such as marine geological survey, marine engineering survey, underwater target search and the like. The side scan sonar sea bottom line is a boundary line existing between a water body and the sea bottom in a side scan sonar image, and represents the height from the fish to the sea bottom. The submarine line detection can not only warn the measuring personnel when the height of the fish towing is less than a certain value, so as to realize the purpose of avoiding obstacles in time, but also play an important role in subsequent target measurement, slope correction and the like.
At present, the submarine line detection is mainly divided into a maximum peak value method and a threshold value method, and in order to solve the influence of strong interference, methods such as manual intervention setting of initial values are adopted to improve detection precision. The detection criteria of the maximum peak method and the threshold method are that the energy of the initial sea bottom echo is very strong and is obviously separated from the water body, but the side scan sonar image is easily influenced by factors such as emission pulse, water surface echo and wake flow, suspended matters, strong absorption and contrast bottom materials, the sea bottom line distribution may not be very obvious, and the sea bottom line detection result is often not very accurate under the condition.
Disclosure of Invention
The embodiment of the application aims to provide a side-scan sonar undersea line detection method and device so as to solve the problem that the existing undersea line detection result is not accurate.
In a first aspect, an embodiment of the present application provides a side-scan sonar undersea line detection method, including:
acquiring port echo data and starboard echo data within a preset time range;
acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range;
acquiring a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point;
selecting a first candidate seabed point from the at least one first peak point based on a first SSIM index, and selecting a second candidate seabed point from the at least one second peak point based on a second SSIM index;
and obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point.
Optionally, when a first candidate seabed point is selected from the at least one first peak point based on the first SSIM index, the first peak point selected as the first candidate seabed point satisfies the following condition: the first SSIM index of the first peak point is smaller than a preset similarity threshold;
when a second candidate seabed point is selected from the at least one second peak point based on the second SSIM index, the second peak point selected as the second candidate seabed point satisfies the following conditions: and the second SSIM index of the second peak point is smaller than the similarity threshold.
Optionally, the method further comprises:
the first peak point selected as the first candidate seabed point further satisfies the following conditions: the amplitude of the first peak point is greater than a preset amplitude threshold value, and the coverage length is greater than a preset length threshold value;
selecting a second peak point as the second candidate seabed point further satisfies the following condition: the amplitude of the second peak point is greater than the amplitude threshold and the coverage length is greater than the length threshold.
Optionally, the amplitude threshold is calculated by the following formula:
wherein, the
Is representative of the amplitude threshold value or values,
representing the number of peak points, the peak points being the first peak point or the second peak point,
to represent
The first peak point
The magnitude value of each peak point is,
represents a first constant;
the length threshold is calculated by the following formula:
wherein, the
Is representative of the length threshold value or values,
which is indicative of a second constant that is,
which represents the width of the signal transmission pulse,
representing the sampling rate.
Optionally, the obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point includes:
matching all the selected first candidate seabed points and second candidate seabed points according to a distance nearest principle, and taking the successfully matched first candidate seabed points and second candidate seabed points as final seabed points; and obtaining the seabed line based on the seabed point.
Optionally, the acquiring port echo data and starboard echo data within a preset time range includes:
acquiring a detection blind area of echo data; and starting to acquire the port echo data and the starboard echo data within a preset time range by taking the final value of the detection blind area as an initial position.
Optionally, the acquiring a detection blind area of the echo data includes:
acquiring M frames of pre-acquired port echo data and starboard echo data, and acquiring a third SSIM index between each port echo data and each starboard echo data in each frame;
determining an initial value of the detection blind area based on amplitude values of the M frames of port echo data and starboard echo data;
and determining a final value of the detection blind area based on the initial value of the detection blind area and the third SSIM index.
Optionally, the determining an initial value of the detection blind zone based on the amplitude values of the M frames of port echo data and starboard echo data includes:
based on the amplitude values of the M frames of port echo data and starboard echo data, calculating to obtain an initial value of the detection blind area through the following formula:
Optionally, the determining a final value of the detection blind area based on the initial value of the detection blind area and the third SSIM index includes:
and calculating to obtain a final value of the detection blind area by taking the initial value position of the detection blind area as a reference position through the following formula:
wherein the content of the first and second substances,
represents the final value of the detection dead zone,
representing a time value corresponding to a third target SSIM index in a j frame in the M frame, the third targetAnd marking the SSIM index as a third SSIM index of which the first one in the jth frame is larger than a preset similarity threshold.
In a second aspect, an embodiment of the present application provides a side-scan sonar undersea line detection device, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring port echo data and starboard echo data within a preset time range;
the second acquisition module is used for acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range;
a third obtaining module, configured to obtain a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point;
a fourth obtaining module, configured to select and obtain a first candidate seabed point from the at least one first peak point based on the first SSIM index, and select and obtain a second candidate seabed point from the at least one second peak point based on the second SSIM index;
a fifth obtaining module, configured to obtain a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, where the program or instructions, when executed by the processor, implement the steps of the method according to the first aspect.
In a fourth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method according to the first aspect.
The method and the device for detecting the submarine pipeline of the side-scan sonar provided by the embodiment are characterized in that a submarine pipeline is obtained by obtaining port echo data and starboard echo data within a preset time range, obtaining at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range, then obtaining a first SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point, selecting from the at least one first peak point based on the first SSIM indexes to obtain a first candidate submarine pipeline, selecting from the at least one second peak point based on the second SSIM indexes to obtain a second candidate submarine pipeline, and finally obtaining the submarine pipeline based on the first candidate submarine pipeline and the second candidate submarine pipeline; because the seabed line has the bilateral symmetry characteristic and the SSIM index represents the similarity index of the peak point, the interference of a water body can be overcome without manual intervention when the seabed line is obtained based on the SSIM index, and the precise detection of the seabed line under the complex marine environment is realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a schematic flow chart of a side-scan sonar undersea line detection method according to an embodiment of the present application;
FIG. 2 is a second schematic flow chart of the side-scan sonar sea-bottom line detection method in the embodiment of the present application;
FIG. 3 is a schematic view of the sea bottom line detected in the embodiment of the present application;
FIG. 4 is a schematic view of the module components of the side-scan sonar sea bottom line detection device in the embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The side-scan sonar undersea line detection method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.
As shown in fig. 1, a flowchart of steps of a side-scan sonar sea-bottom line detection method provided in the embodiment of the present application is provided, and an execution main body of the method may be a server, where the server may be an independent server or a server cluster composed of a plurality of servers, and the server may be a server capable of performing program operation processing, such as a server that performs side-scan sonar sea-bottom line detection. The method comprises the following steps:
step 101: and acquiring the port echo data and the starboard echo data within a preset time range.
The submarine line is formed by connecting submarine points detected by each frame of echo data in the side-scan sonar flight path direction.
One frame refers to the time interval between two signal pulse transmissions of the side scan sonar, and one frame of echo data refers to all the echo data received within one frame time.
Specifically, the preset time range may be in units of frames, that is, the port echo data and the starboard echo data in at least one frame may be acquired in this step. The port echo data is echo data received by a side-scan sonar port transducer, and the starboard echo data is echo data received by a side-scan sonar starboard transducer.
It should be further noted that when port echo data and starboard echo data within a preset time range are acquired, since the type of the echo data is generally greater than 8 bits, and gray scale calculation is required, the echo data may be converted into 256 gray scales, where the gray scale conversion formula is:
wherein the content of the first and second substances,
the intensity of the echo data is represented by,
representing the maximum of the echo data intensity.
Step 102: and acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within a preset time range.
When the first peak point is obtained, at least one peak value in the port echo data in a preset time range can be detected, and preferably all peak values in the port echo data in the preset time range can be detected, so that at least one first peak point is obtained;
similarly, when the second peak point is obtained, at least one peak in the starboard echo data within the preset time range may be detected, and preferably, all peaks in the starboard echo data within the preset time range may be detected, so as to obtain at least one second peak point.
By acquiring the first peak point and the second peak point, peak detection in the port and starboard echo data is realized, so that theoretical support is provided for seabed point detection.
Step 103: and acquiring a first SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point.
Among them, Structural SIMilarity (SSIM) is an index for measuring the SIMilarity between two images. Since echo data is a kind of signal data capable of generating an image, when the SSIM index between echo images can be acquired, the SSIM index between corresponding echo data may be acquired in this embodiment.
In particular, SSIM takes into account the visual characteristics of the human eye, as measured by brightness
Contrast ratio
And structure
Three similarity functions, defined as:
given two imagesxAndythe brightness similarity is estimated by the average gray scale of the image, and is expressed as:
in the formula (I), the compound is shown in the specification,
and
represents the average gray level of the image,
is to prevent the denominator from being 0,
is movement of grey scaleThe range of states, typically taken to be 255,
is a constant much less than 1 and is typically taken to be 0.01.
The contrast similarity is estimated as the standard deviation of the image, and is expressed as:
in the formula (I), the compound is shown in the specification,
and
the standard deviation of the image is represented by,
generally 0.03 is taken.
The structural similarity is estimated using the covariance of the image, and is expressed as:
in the formula (I), the compound is shown in the specification,
the covariance of the two images is represented,
in this embodiment, assuming that the unit of the preset time range is 1, and the number of the port echo data and the starboard echo data in each unit is N, the number of the port echo data and the starboard echo data in one unit is 1 × N, and at this time, SSIM indexes are calculated for the N port echo data and the N starboard echo data, so that SSIM indexes between the corresponding port echo data and the corresponding starboard echo data can be obtained, and the N SSIM indexes are obtained in total.
When calculating the SSIM index between the corresponding port echo data and starboard echo data, it is possible to obtain the SSIM index between the port echo image and the starboard echo image by configuring a plurality of port echo data centered on the port echo data into a port echo image and a plurality of starboard echo data centered on the starboard echo data into a starboard echo image, and determine the obtained SSIM index as the SSIM index between the corresponding port echo data and starboard echo data; the SSIM index between the corresponding port echo data and starboard echo data may be calculated separately, and is not particularly limited herein.
Then, when the first SSIM index corresponding to each first peak point is obtained, the SSIM index corresponding to the first peak point, that is, the first SSIM index, may be directly obtained from the obtained N SSIM indexes; when the second SSIM index corresponding to each second peak point is obtained, the SSIM index corresponding to the second peak point, that is, the second SSIM index, may be directly obtained from the N SSIM indices obtained.
It should be noted that the first SSIM index and the second SSIM index may be the same or different; for example, if the first peak point and the second peak point are paired port and starboard echo data for calculating the SSIM index, the first SSIM index and the second SSIM index are the same.
Specifically, by obtaining a first SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point, and because the seabed line has a bilateral symmetry characteristic, whether the first peak point and the second peak point can be used as seabed points can be judged based on the SSIM indexes.
Step 104: and selecting a first candidate seabed point from at least one first peak point based on the first SSIM index, and selecting a second candidate seabed point from at least one second peak point based on the second SSIM index.
The first candidate seabed point is selected from all the obtained first peak points based on the first SSIM index, the second candidate seabed point is selected from all the obtained second peak points based on the second SSIM index, the seabed line has bilateral symmetry characteristics, and the SSIM index represents the similarity index of the peak points, so that when the candidate seabed point is selected based on the SSIM index, the accuracy of the selected candidate seabed point can be ensured, and the accuracy of the obtained seabed line is further ensured.
Step 105: and obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point.
After the first candidate seabed point and the second candidate seabed point are determined, all the first candidate seabed points and the second candidate seabed points which are obtained through selection can be matched according to a distance nearest principle, and the first candidate seabed points and the second candidate seabed points which are successfully matched are used as final seabed points; a seafloor line is then obtained based on the seafloor points.
The successful matching may mean that the distance between the two candidate seabed points for matching is smaller than a preset distance threshold.
Specifically, when the seabed line is obtained, the seabed line may be processed by using a median filtering method to eliminate outliers.
In the embodiment, a sea bottom line is obtained by obtaining port echo data and starboard echo data within a preset time range, obtaining at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range, then obtaining a first SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point, selecting from the at least one first peak point based on the first SSIM index to obtain a first candidate sea bottom point, selecting from the at least one second peak point based on the second SSIM index to obtain a second candidate sea bottom point, and finally obtaining the sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point; because the seabed line has the bilateral symmetry characteristic and the SSIM index represents the similarity index of the peak point, the interference of a water body can be overcome without manual intervention when the seabed line is obtained based on the SSIM index, and the precise detection of the seabed line under the complex marine environment is realized.
Optionally, in this embodiment, when a first candidate seabed point is selected from the at least one first peak point based on a first SSIM index, the first peak point selected as the first candidate seabed point satisfies the following condition: the first SSIM index of the first peak point is smaller than a preset similarity threshold;
when a second candidate seabed point is selected from the at least one second peak point based on the second SSIM index, the second peak point selected as the second candidate seabed point satisfies the following conditions: and the second SSIM index of the second peak point is smaller than the similarity threshold.
It should be noted that the similarity threshold is used to distinguish between the similar region and the non-similar region, and the value may be set according to the requirement, and the value of the similarity threshold is not specifically limited herein.
The side scan sonar images generally consist of a port image and a starboard image (port echo data), reflect submarine geomorphic features on two sides of the towed fish together, and have bilateral symmetry features on a sea bottom line. Under the condition of no water body interference, the side scan sonar image has almost no echo energy before the submarine line, the similarity of the port and starboard images is extremely high, and the similarity of the port and starboard images is reduced along with the change of submarine landforms after the submarine line, namely the similarity of the port and starboard echo data is reduced. When the candidate seabed points are selected from the peak points, the peak points (including the first peak point and the second peak point) selected as the candidate seabed points need to meet the condition that the SSIM index is smaller than the preset similarity threshold so as to meet the rule that the similarity of port and starboard images is reduced along with the change of seabed landforms after a seabed line, and therefore the accuracy of the obtained candidate seabed points is ensured.
Optionally, the first peak point selected as the first candidate seabed point may further satisfy the following condition: the amplitude of the first peak point is greater than a preset amplitude threshold value, and the coverage length is greater than a preset length threshold value; the second peak point selected as the second candidate seabed point further satisfies the following condition: the amplitude of the second peak point is greater than the amplitude threshold and the coverage length is greater than the length threshold.
The coverage length represents the scattering characteristic of the seabed scattering point, and the coverage length of the peak point (the first peak point or the second peak point) refers to the extension length when the amplitude value is within the preset range when extending from the peak point to two sides.
In addition, the preset amplitude threshold and length threshold can be calculated.
Wherein the amplitude threshold value can be calculated by the following formula:
wherein the content of the first and second substances,
is representative of the amplitude threshold value or values,
representing the number of peak points, the peak points being a first peak point or a second peak point,
to represent
The first peak point
The magnitude value of each peak point is,
represents a first constant;
it should be noted that, in the following description,
the specific value of (b) can be obtained according to actual requirements based on actual tests, and the specific value is not particularly limited herein
The specific numerical value of (1).
The length threshold is calculated by the following formula:
wherein the content of the first and second substances,
is representative of the length threshold value or values,
which is indicative of a second constant that is,
which represents the width of the signal transmission pulse,
representing the sampling rate.
It should be noted that, in the following description,
the specific value of (b) can be obtained according to actual requirements based on actual tests, and the specific value is not particularly limited herein
The specific numerical value of (1).
The candidate seabed point selected in the above way meets the condition that the SSIM index is smaller than the similarity threshold, and also meets the conditions that the amplitude is larger than the preset amplitude threshold and the coverage length is larger than the preset length threshold, thereby further ensuring the accuracy of the candidate seabed point.
In addition, optionally, in this embodiment, when acquiring the port echo data and the starboard echo data within the preset time range, a detection blind zone of the echo data may be acquired first, and then the acquisition of the port echo data and the starboard echo data within the preset time range may be started with a final value of the detection blind zone as a start position.
The detection blind area is a period of time in which the echo energy is weakened from strong and interfered by the echo of the ship body and the echo data of the port and the starboard are always kept inconsistent, wherein the reception starting moment is taken as a starting point. When the side scan sonar emission pulse is propagated in the water body and meets the target, the target scatters pulse signals to all directions, wherein the transducer receives backward heat dissipation echo, and the pulse signals are difficult to reach the rear of the target, thereby generating a blind area. The echo energy in the detection blind area is extremely strong, and by acquiring the detection blind area and taking the final value of the detection blind area as the initial position, the port echo data and the starboard echo data in the preset time range are acquired, so that the data in the detection blind area are invalidated, and the interference of the data in the blind area on the submarine pipeline detection is eliminated.
Specifically, the method for acquiring the detection blind area of the echo data comprises the following steps:
step A1: and acquiring M frames of pre-acquired port echo data and starboard echo data, and acquiring a third SSIM index between each port echo data and each starboard echo data in each frame.
It should be noted that M is an integer greater than 1 and a specific value of M is not limited herein.
In addition, the M frames of port echo data may form a port grayscale image, and the M frames of starboard echo data may form a starboard grayscale image, and SSIM indexes are used as indexes for measuring similarity between two images, so that a third SSIM index between each port echo data and each starboard echo data in each frame may be obtained based on a mapping relationship between the echo data and the images.
For example, assuming that N pieces of port echo data and starboard echo data are included in each frame, each of the port echo data and the starboard echo data has M × N pieces, and the present embodiment may calculate the SSIM index (referred to as a third SSIM index for convenience of distinction herein) between each pair of the M × N pieces of port echo data and each pair of the M × N pieces of starboard echo data in two dimensions.
Step A2: and determining an initial value of the detection blind area based on the amplitude values of the M frames of the port echo data and the starboard echo data.
Specifically, the initial value of the detection blind area may be calculated based on the amplitude values of the M frames of the port echo data and the starboard echo data by using the following formula:
Step A3: and determining a final value of the detection blind area based on the initial value of the detection blind area and the third SSIM index.
In this step, the final value of the detection blind area may be calculated by using the initial value position of the detection blind area as a reference position and using the following formula:
wherein the content of the first and second substances,
represents the final value of the detection dead zone,
and representing a time value corresponding to a third target SSIM index in a j frame in the M frame, wherein the third target SSIM index is the first third SSIM index which is larger than a preset similarity threshold value in the j frame.
Because the detection blind area is interfered by the ship body echo, the similarity of the port and starboard images is low in the detection blind area range, namely the third SSIM index is low, and the similarity of the port and starboard images begins to rise after the detection blind area range is left, namely the third SSIM index is high; on the basis, whether the port and starboard echo data are in an inconsistent state or not can be judged through the third SSIM index, namely whether the port and starboard echo data are still in the detection blind area range or not is judged, so that the final value of the detection blind area is determined, and the accuracy of the determined final value of the detection blind area is ensured.
Therefore, the detection blind area is determined through the process, the submarine line can be detected by taking the final value of the detection blind area as the initial position, and the accuracy of the detected submarine line is further ensured.
The overall process steps of the present application are described below with reference to fig. 2, and as shown in fig. 2, the side scan sonar undersea line detection method specifically includes the following steps:
step 201: acquiring side-scan sonar echo data within a preset range, including port echo data and starboard echo data, and performing gray processing on the acquired echo data;
step 202: carrying out SSIM index calculation on the port echo data and the starboard echo data;
step 203: selecting whether detection blind area calculation is needed or not; if the calculation of the detection blind area is not needed, step 204 is performed, peak detection and candidate seabed point detection are directly performed, that is, at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within a preset time range are detected, then a first candidate seabed point is selected from the at least one first peak point based on the SSIM index, and a second candidate seabed point is selected from the at least one second peak point.
Step 205: and determining a seabed point based on the candidate seabed point, and performing median filtering to output a seabed line.
Step 206: if the blind area detection needs to be calculated, judging whether the pre-collected port echo data and starboard echo data are not less than M frames; if yes, go to step 207 to perform blind area detection to obtain a detection blind area, and then go to step 204 to start performing peak detection and candidate seabed point detection.
Through the process, the side-scan sonar undersea line detection process based on the SSIM index is realized. Under the condition of no water body interference, echo energy is basically absent in front of a side scan sonar image sea bottom line, the similarity of a port image and a starboard image is extremely high, and the similarity of the port image and the starboard image is reduced along with the change of a submarine landform behind the sea bottom line. According to the characteristics of side scan sonar images, an SSIM algorithm is introduced into submarine line detection, the SSIM algorithm is a full-reference image quality evaluation index, the visual characteristics of human eyes are considered, the similarity of a port image and a starboard image can be measured from three aspects of brightness, contrast and structure, the boundary between a similar area of the port image and a similar area of the starboard image and a non-similar area is found, and the submarine line position is determined under the condition that manual intervention is not needed by combining a threshold control method, submarine size characteristics and the like, so that water body interference can be overcome, and accurate detection of the submarine line under a complex marine environment is realized.
Specifically, the following examples are provided to illustrate the advantageous effects achieved by the present application. The data actually collected by the side scan sonar system in a certain water area is used as an object to be tested. The working distance during measurement is 50m, the signal frequency is 500KHz, and the water depth variation range of the experimental area is 15-30 m. As shown in fig. 3, the acquired SSS image shows that the brighter the color is, the weaker the echo energy is, and the black line is the submarine line detection result. From fig. 3, it can be seen that there are many suspended matters in the water body in the measured water area, the echo energy of part of the seabed is very weak, but the detection result of the seabed line is very consistent with the actual seabed position, and the continuity is very good.
In the side-scan sonar undersea line detection method provided in the embodiment of the present application, the execution main body may be a side-scan sonar undersea line detection device, or a control module for executing the side-scan sonar undersea line detection method in the side-scan sonar undersea line detection device. In the present embodiment, a side-scan sonar undersea line detection device executing the side-scan sonar undersea line detection method is taken as an example, and the side-scan sonar undersea line detection device provided in the present embodiment is described.
As shown in fig. 4, the apparatus includes:
a first obtaining module 401, configured to obtain port echo data and starboard echo data within a preset time range;
a second obtaining module 402, configured to obtain at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range;
a third obtaining module 403, configured to obtain a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point;
a fourth obtaining module 404, configured to select and obtain a first candidate seabed point from the at least one first peak point based on the first SSIM index, and select and obtain a second candidate seabed point from the at least one second peak point based on the second SSIM index;
a fifth obtaining module 405, configured to obtain a sea floor line based on the first candidate sea floor point and the second candidate sea floor point.
It should be noted that, the side-scan sonar undersea line detection device provided in the foregoing embodiment can implement all the method steps and beneficial effects of the side-scan sonar undersea line detection method embodiment, and in order to avoid repetition, the method steps and beneficial effects that are the same as those in the foregoing method embodiment in this embodiment are not described again.
On the basis of the same technical concept, the embodiment of the present application further provides an electronic device, which is used for executing the above-mentioned side-scan sonar sea bottom line detection method, and fig. 5 is a schematic structural diagram of an electronic device for implementing various embodiments of the present application. Electronic devices may have a large difference due to different configurations or performances, and may include a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, where the processor 510, the communication Interface 520 and the memory 530 complete communication with each other through the communication bus 540. Processor 510 may invoke a computer program stored on memory 530 and executable on processor 510 to perform the following steps:
acquiring port echo data and starboard echo data within a preset time range;
acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range;
acquiring a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point;
selecting a first candidate seabed point from the at least one first peak point based on a first SSIM index, and selecting a second candidate seabed point from the at least one second peak point based on a second SSIM index;
and obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point.
Optionally, when a first candidate seabed point is selected from the at least one first peak point based on the first SSIM index, the first peak point selected as the first candidate seabed point satisfies the following condition: the first SSIM index of the first peak point is smaller than a preset similarity threshold;
when a second candidate seabed point is selected from the at least one second peak point based on the second SSIM index, the second peak point selected as the second candidate seabed point satisfies the following conditions: and the second SSIM index of the second peak point is smaller than the similarity threshold.
Optionally, the method further comprises:
the first peak point selected as the first candidate seabed point further satisfies the following conditions: the amplitude of the first peak point is greater than a preset amplitude threshold value, and the coverage length is greater than a preset length threshold value;
selecting a second peak point as the second candidate seabed point further satisfies the following condition: the amplitude of the second peak point is greater than the amplitude threshold and the coverage length is greater than the length threshold.
Optionally, the amplitude threshold is calculated by the following formula:
wherein, the
Is representative of the amplitude threshold value or values,
representing the number of peak points, the peak points being the first peak point or the second peak point,
to represent
The first peak point
The magnitude value of each peak point is,
represents a first constant;
the length threshold is calculated by the following formula:
wherein, the
Is representative of the length threshold value or values,
which is indicative of a second constant that is,
which represents the width of the signal transmission pulse,
representing the sampling rate.
Optionally, the obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point includes:
matching all the selected first candidate seabed points and second candidate seabed points according to a distance nearest principle, and taking the successfully matched first candidate seabed points and second candidate seabed points as final seabed points; and obtaining the seabed line based on the seabed point.
Optionally, the acquiring port echo data and starboard echo data within a preset time range includes:
acquiring a detection blind area of echo data; and starting to acquire the port echo data and the starboard echo data within a preset time range by taking the final value of the detection blind area as an initial position.
Optionally, the acquiring a detection blind area of the echo data includes:
acquiring M frames of pre-acquired port echo data and starboard echo data, and acquiring a third SSIM index between each port echo data and each starboard echo data in each frame;
determining an initial value of the detection blind area based on amplitude values of the M frames of port echo data and starboard echo data;
and determining a final value of the detection blind area based on the initial value of the detection blind area and the third SSIM index.
Optionally, the determining an initial value of the detection blind zone based on the amplitude values of the M frames of port echo data and starboard echo data includes:
based on the amplitude values of the M frames of port echo data and starboard echo data, calculating to obtain an initial value of the detection blind area through the following formula:
Optionally, the determining a final value of the detection blind area based on the initial value of the detection blind area and the third SSIM index includes:
and calculating to obtain a final value of the detection blind area by taking the initial value position of the detection blind area as a reference position through the following formula:
wherein the content of the first and second substances,
represents the final value of the detection dead zone,
and representing a time value corresponding to a third target SSIM index in a j frame in the M frame, wherein the third target SSIM index is the first third SSIM index which is larger than a preset similarity threshold value in the j frame.
The embodiments of the present application further provide a readable storage medium, where a program or an instruction is stored, and when the program or the instruction is executed by a processor, the process of the foregoing method embodiments is implemented, and the same technical effect can be achieved, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A side scan sonar sea bottom line detection method is characterized by comprising the following steps:
acquiring port echo data and starboard echo data within a preset time range;
acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range;
acquiring a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point;
selecting a first candidate seabed point from the at least one first peak point based on a first SSIM index, and selecting a second candidate seabed point from the at least one second peak point based on a second SSIM index;
and obtaining a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point.
2. The side-scan sonar sea bottom line detection method according to claim 1,
when a first candidate seabed point is selected from the at least one first peak point based on the first SSIM index, the first peak point selected as the first candidate seabed point meets the following conditions: the first SSIM index of the first peak point is smaller than a preset similarity threshold;
when a second candidate seabed point is selected from the at least one second peak point based on the second SSIM index, the second peak point selected as the second candidate seabed point satisfies the following conditions: and the second SSIM index of the second peak point is smaller than the similarity threshold.
3. The side-scan sonar undersea line detection method according to claim 2, further comprising:
the first peak point selected as the first candidate seabed point further satisfies the following conditions: the amplitude of the first peak point is greater than a preset amplitude threshold value, and the coverage length is greater than a preset length threshold value;
selecting a second peak point as the second candidate seabed point further satisfies the following condition: the amplitude of the second peak point is greater than the amplitude threshold and the coverage length is greater than the length threshold.
4. The side-scan sonar sea bottom line detection method according to claim 3,
calculating the amplitude threshold value by the following formula:
wherein, the
Is representative of the amplitude threshold value or values,
representing the number of peak points, the peak points being the first peak point or the second peak point,
to represent
The first peak point
The magnitude value of each peak point is,
represents a first constant;
the length threshold is calculated by the following formula:
wherein, the
Is representative of the length threshold value or values,
which is indicative of a second constant that is,
which represents the width of the signal transmission pulse,
representing the sampling rate。
5. The side-scan sonar sea floor line detection method according to claim 1, wherein obtaining a sea floor line based on the first candidate sea floor point and the second candidate sea floor point includes:
matching all the selected first candidate seabed points and second candidate seabed points according to a distance nearest principle, and taking the successfully matched first candidate seabed points and second candidate seabed points as final seabed points;
and obtaining the seabed line based on the seabed point.
6. The side-scan sonar undersea line detection method according to claim 1, wherein the acquiring port echo data and starboard echo data within a preset time range includes:
acquiring a detection blind area of echo data;
and starting to acquire the port echo data and the starboard echo data within a preset time range by taking the final value of the detection blind area as an initial position.
7. The side-scan sonar undersea line detection method according to claim 6, wherein the acquiring a detection dead zone of echo data includes:
acquiring M frames of pre-acquired port echo data and starboard echo data, and acquiring a third SSIM index between each port echo data and each starboard echo data in each frame;
determining an initial value of the detection blind area based on amplitude values of the M frames of port echo data and starboard echo data;
and determining a final value of the detection blind area based on the initial value of the detection blind area and the third SSIM index.
8. The side-scan sonar subsea line detection method according to claim 7, wherein determining an initial value for the detection dead zone based on amplitude values of the M frames of port echo data and starboard echo data comprises:
based on the amplitude values of the M frames of port echo data and starboard echo data, calculating to obtain an initial value of the detection blind area through the following formula:
9. The side-scan sonar undersea line detection method of claim 7, wherein determining a final value of the detection dead zone based on the initial value of the detection dead zone and the third SSIM index comprises:
and calculating to obtain a final value of the detection blind area by taking the initial value position of the detection blind area as a reference position through the following formula:
wherein the content of the first and second substances,
represents the final value of the detection dead zone,
and representing a time value corresponding to a third target SSIM index in a j frame in the M frame, wherein the third target SSIM index is the first third SSIM index which is larger than a preset similarity threshold value in the j frame.
10. The utility model provides a side scan sonar undersea line detection device which characterized in that includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring port echo data and starboard echo data within a preset time range;
the second acquisition module is used for acquiring at least one first peak point in the port echo data and at least one second peak point in the starboard echo data within the preset time range;
a third obtaining module, configured to obtain a first structural similarity SSIM index corresponding to each first peak point and a second SSIM index corresponding to each second peak point;
a fourth obtaining module, configured to select and obtain a first candidate seabed point from the at least one first peak point based on the first SSIM index, and select and obtain a second candidate seabed point from the at least one second peak point based on the second SSIM index;
a fifth obtaining module, configured to obtain a sea bottom line based on the first candidate sea bottom point and the second candidate sea bottom point.
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