Yingjie RUAN, Yan HE, Deliang LV, Chunhe HOU, Guangxiu XU, Chaoran ZHANG, Yifan HUANG, Xinke HAO. LiDAR profile image processing method for underwater obstacle[J]. Infrared and Laser Engineering, 2024, 53(7): 20240133
- Infrared and Laser Engineering
- Vol. 53, Issue 7, 20240133 (2024)
Fig. 1. Unmanned airborne ocean LiDAR
Fig. 2. Schematic diagram of the receiving optical path
Fig. 3. Photograph of the obstacle
Fig. 4. Multi-channel waveform data obtained by airborne experiment
Fig. 5. Echo energy profile
Fig. 6. Local echo energy profiles of underwater obstacle
Fig. 7. Schematic diagram of the principle of linear-approximation of leading edge algorithm
Fig. 8. Modeling of laser emission angle
Fig. 9. Echo energy profile after angle correction
Fig. 10. Histogram of water surface height statistics
Fig. 11. Local echo energy profile of underwater obstacle after angle correction
Fig. 12. Obstacle echo profile edge extraction results of adjacent scan lines
Fig. 13. Depth of the centroid of obstacle contours
Fig. 14. The 20 sample images used for validating automatic recognition
Fig. 15. Schematic diagram of the water background region extraction
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Table 1. Parameters of the LiDAR
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Table 2. Image contour similarity
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Table 3. Variance of the amplitude in test samples
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