混合光场水下光学二维与三维探测研究
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摘要
海洋科技日益成为世界各国经济与科技竞争的焦点之一。海洋开发，需要获取大范围、精确的海洋环境数据，以便进行海底勘探、取样、水下施工等。要完成上述任务，需要一系列的海洋开发支撑技术，包括深海探测、深潜、海洋遥感、海洋导航等。作为水下探测的重要手段，水下成像技术的需求也越来越多，其中主要涉及水下照明及三维图像重建问题。本文提出了水下非均匀光场照明和激光扫描三维重建的方案，并进行了实验和研究。
本文系统研究了水下光场和水下图像的基本理论，设计了一种非均匀光场水下探测设备。由于水下目标成像质量的优劣取决于水质条件、接收器种类、光源照明方式等因素。要在低透明度条件下对水下大尺寸高速度目标的成像，要满足大范围照明、低散射影响和高信噪比的条件。依据水下光能量传递理论（辐射传递方程及比尔朗伯特定律采用反演形式设计光分布），非均匀照明系统需要满足远距离高能量密度投送，近距离低能量密度照明的要求，以此使得近距离散射光能量减少，远距离目标反射光增强，从而达到提高信噪比的目的。依据该方法极大的提高了探测距离，使得探测距离可以达到1.5-1.6倍能见度以上，达到瓦级激光系统水平，又可兼具功耗低、体积小、重量轻等特点。
同时基于结构光扫描原理，设计了一种针对水下目标或场景的激光扫描三维重建方法，此方法使用激光线光源扫描探测区域，用标定板进行标定，建立采样数据的二维像素坐标系与三维世界坐标系的映射关系，通过坐标系变换，将二维线结构光扫描数据转变为三维物体信息。
本文在实验中使用非均匀光场对水下目标进行照明。使用水下光度计测量了接收器与被测物轴线（LOS）上光能量分布。同时拍摄了不同距离下被测物的图片。从而得出结论非均匀光场水下探测系统符合设计理论，能够有效提高探测距离。
本文在水槽中进行了实验，系统架设于直线导轨上。采用532nm的半导体激光器作为光源，用柱面镜扩为线结构光，采用CCD相机记录了线结构光扫描的图像数据。应用图像处理方法对水下图像进行去噪和中心线提取，编程实现了水下场景毫米量级的三维重建。
Marine science and technology has become the focus of world with the economicand technological development. For the purpose of underwater exploration andconstruction, wide range and accurate underwater environmental data are needed. Inorder to obtain the data, a series of ocean technologies were under researched. And theunderwater imaging method is researched in this article.
This paper presents a new approach for underwater target detection byinhomogeneous illumination, which intensity distribution relates to the attenuationpattern of light transmission with an inverse form. The proposed approach was testedand verified by the underwater imaging experiments, showing that it is effective todecrease the backscattering within a wide field of view (FOV) to increase thedetection distance, especially through turbid water. By the proposed method,underwater target detection with wide FOV, low backscattering noise (especiallythrough turbid water) and non-blind area can be realized.
Laser line scan (LLS) is one of the underwater optical imaging methods, whichcan reduce the detrimental effects of backscatter and forward scatter. By projectinglaser stripe onto the target, the profile of target can be inferred from the displacementof the laser scan lines.
Inhomogeneous light field image detection system was used in the poolexperiments. The underwater photometer was use to measure the energy distributionof the axis of the receiver to the target (LOS). While get the pictures of the targetunder different distances. It can concluded that inhomogeneous light field imagedetection system in accordance with the design theory, and can improve the detectionrange effectively.
Experiments had been carried out in a sink, and the scanning system was set up in alinear guide. A532nm semiconductor laser was used as light source, and a cylindricallens was placed ahead of it to generate a laser line. The2D data were acquired by adigital camera. Some image processing methods were used for denoising and centerextraction. Then the coordinates of2D data were transformed into3D worldcoordinates. And the3D reconstruction result is shown at millimeter scales.
本文系统研究了水下光场和水下图像的基本理论，设计了一种非均匀光场水下探测设备。由于水下目标成像质量的优劣取决于水质条件、接收器种类、光源照明方式等因素。要在低透明度条件下对水下大尺寸高速度目标的成像，要满足大范围照明、低散射影响和高信噪比的条件。依据水下光能量传递理论（辐射传递方程及比尔朗伯特定律采用反演形式设计光分布），非均匀照明系统需要满足远距离高能量密度投送，近距离低能量密度照明的要求，以此使得近距离散射光能量减少，远距离目标反射光增强，从而达到提高信噪比的目的。依据该方法极大的提高了探测距离，使得探测距离可以达到1.5-1.6倍能见度以上，达到瓦级激光系统水平，又可兼具功耗低、体积小、重量轻等特点。
同时基于结构光扫描原理，设计了一种针对水下目标或场景的激光扫描三维重建方法，此方法使用激光线光源扫描探测区域，用标定板进行标定，建立采样数据的二维像素坐标系与三维世界坐标系的映射关系，通过坐标系变换，将二维线结构光扫描数据转变为三维物体信息。
本文在实验中使用非均匀光场对水下目标进行照明。使用水下光度计测量了接收器与被测物轴线（LOS）上光能量分布。同时拍摄了不同距离下被测物的图片。从而得出结论非均匀光场水下探测系统符合设计理论，能够有效提高探测距离。
本文在水槽中进行了实验，系统架设于直线导轨上。采用532nm的半导体激光器作为光源，用柱面镜扩为线结构光，采用CCD相机记录了线结构光扫描的图像数据。应用图像处理方法对水下图像进行去噪和中心线提取，编程实现了水下场景毫米量级的三维重建。
Marine science and technology has become the focus of world with the economicand technological development. For the purpose of underwater exploration andconstruction, wide range and accurate underwater environmental data are needed. Inorder to obtain the data, a series of ocean technologies were under researched. And theunderwater imaging method is researched in this article.
This paper presents a new approach for underwater target detection byinhomogeneous illumination, which intensity distribution relates to the attenuationpattern of light transmission with an inverse form. The proposed approach was testedand verified by the underwater imaging experiments, showing that it is effective todecrease the backscattering within a wide field of view (FOV) to increase thedetection distance, especially through turbid water. By the proposed method,underwater target detection with wide FOV, low backscattering noise (especiallythrough turbid water) and non-blind area can be realized.
Laser line scan (LLS) is one of the underwater optical imaging methods, whichcan reduce the detrimental effects of backscatter and forward scatter. By projectinglaser stripe onto the target, the profile of target can be inferred from the displacementof the laser scan lines.
Inhomogeneous light field image detection system was used in the poolexperiments. The underwater photometer was use to measure the energy distributionof the axis of the receiver to the target (LOS). While get the pictures of the targetunder different distances. It can concluded that inhomogeneous light field imagedetection system in accordance with the design theory, and can improve the detectionrange effectively.
Experiments had been carried out in a sink, and the scanning system was set up in alinear guide. A532nm semiconductor laser was used as light source, and a cylindricallens was placed ahead of it to generate a laser line. The2D data were acquired by adigital camera. Some image processing methods were used for denoising and centerextraction. Then the coordinates of2D data were transformed into3D worldcoordinates. And the3D reconstruction result is shown at millimeter scales.
引文
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[2]王向红,多波束条带测深系统数据后置处理技术研究,哈尔滨工程大学,博士学位论文,2005
[3]徐洪梅，水下非均匀光场的目标探测研究，中国海洋大学博士学位论文，2009
[4]吴庆阳,线结构光三维传感中关键技术研究,四川大学博士学位论文,2006
[5]王宗义,线结构光视觉传感器与水下三维探测,哈尔滨工程大学博士学位论文,2005
[6] Drap,P. Photogrammetry for virtual exploration of underwater archeological sites. XXIInternational Scientific Committee for Doccumentation of Cultural Hertage Symposium,Athens, Greece.2007
[7] Liu H.T. A Video-based Stereoscopic Imaging and Measurement System for UnderseaApplications. Proc.MTS/IEEE OCEANS’01,1,2001,PP.257-286
[8] Charles Wheatstone. Contributions to the Physiology of Vision.-On some remarkable, andhitherto unobserved, Phenomena of Binocular Vision.‘Philosophical Transactions’ of theRoyal Society of London,1838(Vol.128):371-394.
[9] Leone,A. Stereoscopic system for3-d seabed mosaic reconstruction. InternationalConference on Image Processing, ICIP.pp.541-544,2006
[10]冯士筰,海洋科学导论,高等教育出版社,2005年9月
[11] R. Y. Tsai, A Versatile Camera Calibration Technique for High-accuracy3D MachineVision Metrology Using off-the-shelf TV Cameras and Lenses, IEEE J. Robot. Autom., Vol.3,No.4, pp.323-344, Aug.1987
[12] Chau-Chang Wang, Nonmetric Camera Calibration for Underwater Laser Scanning System.IEEE JOURNAL OF OCEANIC ENGINEERING, VOL.32, APRIL2007
[13] Evans,P.M., New technology for subsea laser imaging and ranging system for inspection andmapping. Sensor Rev.,18(1998):97-107
[14] Wilkerson,T.D. Kinematic Analysis of Conically Scanned Environmental Properties, USPatent, No.6535158，2003
[15] Optech, SHOALS-1000T: The Next Generation of Airborne Laser Bathymetry.http://www.optech.ca/pdf/Brochures/shoals_shoals.pdf,2003
[16] Donna M. Kocak, The Current Art of Underwater Imaging-With a Glimpse of the Past andVision of the Future, Marine Technology Society Journal, Fall2005Volume39, Number3.
[17] Kent Bowker, Underwater Imaging in Real Time, Using Substantially DirectDepth-to-Display-Height LIDAR Streak Mapping, Patent, No.5467122, Nov.14,1995
[18] Jules S. Jaffe, Underwater Optical Imaging: Status and Prospects, Oceanography, Vol.14,No.3,2001
[19] Weidemann， Using a Laser Underwater Camera Image Enhancer for Mine WarfareApplications: What is gained. NRL, Stennis Space Center, MS, Technical Report,No.A731714, April,2002
[20] Wang,C.C., Tang,D. Seafloor roughness measured by a laser line scanner and aconductivityprobe, IEEE Journal of Oceanic Engineering.2009,34:459–465.
[21] Chau-Chang Wang, Design, Calibration and Applicationof a Seafloor Laser Scanner, LaserScanning,Theory and Applications, pp:495-522
[22] Chau-Chang Wang, Application of CCD cameras as a versatile measurement tool for flumetank, Ocean Engineering,42(2012),71–82
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