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THREE-DIMENSIONAL SONAR IMAGE MODELING METHOD BASED ON AVERAGE BACKGROUND DIFFERENCE OF POINT CLOUD
THREE-DIMENSIONAL SONAR IMAGE MODELING METHOD BASED ON AVERAGE BACKGROUND DIFFERENCE OF POINT CLOUD
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机译：基于点云平均背景差的三维声纳图像建模方法
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摘要
A three-dimensional sonar image modeling method based on an average background difference of a point cloud comprises: (1) obtaining sonar data and transforming three-dimensional sonar range image information corresponding to each frame of sonar data into point cloud data in global coordinates (S01), the point cloud data forming pixels of images; (2) setting average values u(x, y, z) of pixels at identical positions in a series of continuous frame images as background model identical-position pixels so as to obtain a background model, and determining, according to pixels of each frame of the images, a threshold TH being a criterion for determining a background; (3) performing detection, according to the background model and the threshold TH, on a current frame image I(x, y, z) to obtain an output image; and (4) updating the background model and the threshold TH using the current frame image I(x, y, z). The method can quickly identify a foreground object in the background and establish a corresponding mathematical model for subsequent processing, has a high processing speed, and can automatically update a background model with environment changes.
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