水下无人航行器主动目标自动检测方法研究
|
摘要
水下主动目标自动检测是反映水下无人航行器目标探测能力的一项重要指标,混响背景下的主动目标自动检测是其中的难点之一。该文将主动目标自动检测转换为图像分割问题,先用形态学重建或低通滤波算法预处理声图,再用分水岭算法从梯度图像中分割出目标。在此基础上提出了一种自适应阈值选取方法。经过海试数据的检验,文中方法具有较强的稳定性,与传统的恒虚警算法相比,可以有效降低虚警率。
The ability of autonomously detecting active target is one of the key capabilities of unmanned underwater vehicle. One of their difficulties is active target detection in reverberation background. In this paper, active target detection is converted into an image segmentation problem. Firstly, morphological reconstruction or low-pass filter is applied in acoustic image preprocessing. Secondly, watershed algorithm is applied to divide targets from a gradient map. An adaptive threshold selection technique is provided based on this target detection method. Tests with sea trial data show that this method is more stable and has lower false alarm rate than CFAR(constant false alarm rate) algorithm.
The ability of autonomously detecting active target is one of the key capabilities of unmanned underwater vehicle. One of their difficulties is active target detection in reverberation background. In this paper, active target detection is converted into an image segmentation problem. Firstly, morphological reconstruction or low-pass filter is applied in acoustic image preprocessing. Secondly, watershed algorithm is applied to divide targets from a gradient map. An adaptive threshold selection technique is provided based on this target detection method. Tests with sea trial data show that this method is more stable and has lower false alarm rate than CFAR(constant false alarm rate) algorithm.
引文
[1]Fletcher B.UUV master plan:a vision for navy UUV development[C].OCEANS 2000 MTS/IEEE Conference and Exhibition.IEEE,2000:65-71.
[2]曲超.主动声纳恒虚警检测方法研究[D].北京:中国科学院声学研究所,2008.QüChao.Research on sonar constant false alarm rate(CFAR)detection[D].Beijing:Doctor degree thesis of Graduate U-niversity of Chinese Academy of Sciences,2008.
[3]Kalyan B,Balasuriya A.Sonar based automatic target detection scheme for underwater environments using CFAR techniques:a comparative study[C].International Symposium on Underwater Technology.2004:33-37.
[4]聂东虎,李雪耀,张汝波,等.混响背景下水下目标回声的高斯小波检测[J].模式识别与人工智能,2005,18(5):582-587.Nie Donghu,Li Xueyao,Zhang Rubo,et al.Detection of underwater object echo based on Gauss wavelet under the background of reverberation interferences[J].Pattem Recognition and Artificial Intelligence,2005,18(5):582-587.
[5]游波,蔡志明.主动声纳中累积和检验算法门限确定方法及应用[J].声学技术,2009,28(3):303-306.You Bo,Cai Zhiming.Threshold calculating method of page test for detecting active sonar multipath signals[J].Technical Acoustics,2009,28(3):303-306.
[6]Knight W C,Pridham R G,Kay S M.Digital signal processing for sonar[J].Proceedings of the IEEE,1981,69(11):1451-1506.
[7]侯自强.声呐信号处理[M].北京:海洋出版社,1986.Hou Ziqiang.Sonar signal processing[M].Beijing:China Ocean Press,1986.
[8]Jakeman E,Pusey P N.A model for non-Rayleigh sea echo[J].IEEE Transactions on Antennas&Propagation,1976,AP-24(6):806-814.
[9]La Cour B R.Statistical characterization of active sonar reverberation using extreme value theory[J].IEEE Journal of O-ceanic Engineering,2004,29(2):310-316.
[10]Gelb J M,Heath R E,Tipple G L.Statistics of distinct clutter classes in midfrequency active sonar[J].IEEE Journal of Oceanic Engineering,2010,35(2):220-229.
[11]Yang Y,Wang Y,Qian J.Building identification from SAR image based on the modified marker-controlled watershed algorithm[C].Geoscience and Remote Sensing Symposium.IEEE,2015.
[12]Huo G,Yang S X,Li Q,et al.A robust and fast method for sidescan sonar image segmentation using nonlocal despeckling and active contour model[J].IEEE Transactions on Cybernetics,2016:1-18.
[13]Beucher S,Lantuéjoul C.Use of watershed in contour detection[C].International Workshop on Image Processing,1979:391-396.
[14]Vincent L.Morphological grayscale reconstruction in image analysis:applications and efficient algorithms[J].IEEE Transactions on Image Processing A Publication of the IEEE Signal Processing Society,1993,2(2):176-201.
[15]高丽,杨树元,夏杰,等.基于标记的Watershed图像分割新算法[J].电子学报,2006,34(11):2018-2023.Gao Li,Yang Shuyuan,Xia Jie,et al.A new marker-based Watershed algorithm[J].Chinese Journal of Electronics,2006,34(11):2018-2023.
[16]Canny J.A computational approach to edge detection[J].Pattern Analysis&Machine Intelligence IEEE Transactions on,1986,PAMI-8(6):679-698.
[2]曲超.主动声纳恒虚警检测方法研究[D].北京:中国科学院声学研究所,2008.QüChao.Research on sonar constant false alarm rate(CFAR)detection[D].Beijing:Doctor degree thesis of Graduate U-niversity of Chinese Academy of Sciences,2008.
[3]Kalyan B,Balasuriya A.Sonar based automatic target detection scheme for underwater environments using CFAR techniques:a comparative study[C].International Symposium on Underwater Technology.2004:33-37.
[4]聂东虎,李雪耀,张汝波,等.混响背景下水下目标回声的高斯小波检测[J].模式识别与人工智能,2005,18(5):582-587.Nie Donghu,Li Xueyao,Zhang Rubo,et al.Detection of underwater object echo based on Gauss wavelet under the background of reverberation interferences[J].Pattem Recognition and Artificial Intelligence,2005,18(5):582-587.
[5]游波,蔡志明.主动声纳中累积和检验算法门限确定方法及应用[J].声学技术,2009,28(3):303-306.You Bo,Cai Zhiming.Threshold calculating method of page test for detecting active sonar multipath signals[J].Technical Acoustics,2009,28(3):303-306.
[6]Knight W C,Pridham R G,Kay S M.Digital signal processing for sonar[J].Proceedings of the IEEE,1981,69(11):1451-1506.
[7]侯自强.声呐信号处理[M].北京:海洋出版社,1986.Hou Ziqiang.Sonar signal processing[M].Beijing:China Ocean Press,1986.
[8]Jakeman E,Pusey P N.A model for non-Rayleigh sea echo[J].IEEE Transactions on Antennas&Propagation,1976,AP-24(6):806-814.
[9]La Cour B R.Statistical characterization of active sonar reverberation using extreme value theory[J].IEEE Journal of O-ceanic Engineering,2004,29(2):310-316.
[10]Gelb J M,Heath R E,Tipple G L.Statistics of distinct clutter classes in midfrequency active sonar[J].IEEE Journal of Oceanic Engineering,2010,35(2):220-229.
[11]Yang Y,Wang Y,Qian J.Building identification from SAR image based on the modified marker-controlled watershed algorithm[C].Geoscience and Remote Sensing Symposium.IEEE,2015.
[12]Huo G,Yang S X,Li Q,et al.A robust and fast method for sidescan sonar image segmentation using nonlocal despeckling and active contour model[J].IEEE Transactions on Cybernetics,2016:1-18.
[13]Beucher S,Lantuéjoul C.Use of watershed in contour detection[C].International Workshop on Image Processing,1979:391-396.
[14]Vincent L.Morphological grayscale reconstruction in image analysis:applications and efficient algorithms[J].IEEE Transactions on Image Processing A Publication of the IEEE Signal Processing Society,1993,2(2):176-201.
[15]高丽,杨树元,夏杰,等.基于标记的Watershed图像分割新算法[J].电子学报,2006,34(11):2018-2023.Gao Li,Yang Shuyuan,Xia Jie,et al.A new marker-based Watershed algorithm[J].Chinese Journal of Electronics,2006,34(11):2018-2023.
[16]Canny J.A computational approach to edge detection[J].Pattern Analysis&Machine Intelligence IEEE Transactions on,1986,PAMI-8(6):679-698.