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VIBE-BASED THREE-DIMENSIONAL SONAR POINT CLOUD IMAGE SEGMENTATION METHOD
VIBE-BASED THREE-DIMENSIONAL SONAR POINT CLOUD IMAGE SEGMENTATION METHOD
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机译：基于振动的三维声纳点云图像分割方法
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摘要
Disclosed is a ViBe-based three-dimensional sonar point cloud image segmentation method, characterized by comprising: (1) obtaining sonar data, and converting three-dimensional sonar depth image data corresponding to sonar data of each frame into point cloud data under an orthogonal coordinate system; (2) sampling the point cloud data, and by taking a variable resolution R as a parameter, down-sampling the point cloud data into a plurality of adjacent voxels with the side length of R; (3) performing image segmentation on the down-sampled point cloud data by using a ViBe algorithm; (4) performing accumulation scoring on the voxels by using the image segmentation result, and dividing foreground data and background data according to the accumulation scoring; (5) after clustering the foreground data, by taking an original point in the voxels as the center, performing an expansion operation on the foreground data to obtain final foreground point cloud data.
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