Guoquan Xu, Guangying Li, Jianwei Wan, Ke Xu, Guangyan Dong, Guanghua Cheng, Xing Wang, Wenjie Han, Yanxin Ma. Underwater imaging system of pulse modulated lidar[J]. Infrared and Laser Engineering, 2022, 51(3): 20210204
- Infrared and Laser Engineering
- Vol. 51, Issue 3, 20210204 (2022)
Fig. 1. Composition of underwater 3D imaging extended range lidar
Fig. 2. Waveform of laser output
Fig. 3. Results of three filtering methods. (a) Mean filtering; (b) Mean filtering+ K-nearest neighbor smoothing filtering; (c) Mean filtering+ neighborhood average filtering
Fig. 4. Resolution target
Fig. 5. Imaging results at 20 meters in clear water environment. (a) 3D image; (b) Intensity image
Fig. 6. Statistical result and imaging result at 20 meters in clear water environment. (a) Statistical result; (b) 3D image
Fig. 7. Gain of different attenuation coefficients
Fig. 8. Intensity profiles at 5.9 m and 10.7 m in turbid water. (a) Intensity image without band-pass filter (5.9 m); (b) Intensity image with band-pass filter (10.7 m)
Fig. 9. Imaging result of target and iron plate
Fig. 10. Imaging results at 13 m in clear water environment. (a) 3D image; (b) Intensity image
Fig. 11. Imaging accuracy of target in clear water
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Table 1. Key parameters of underwater 3D imaging lidar
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