【摘要】：水下圖像探測是海洋探測的重要方式，近年來隨著光電成像技術(shù)與三維測距技術(shù)的迅速發(fā)展，傳統(tǒng)的水下圖像探測方法逐漸向三維方向發(fā)展，隨著各國對海洋資源開發(fā)利用的重視，水下三維重建方法逐漸成為海洋探測領(lǐng)域的研究熱點(diǎn)。 線結(jié)構(gòu)光掃描法是一種常用的水下三維重建方法，具有較高的重建分辨率，光束能量較集中，可以減少水下后向散射光的影響，具有較遠(yuǎn)的探測距離，但傳統(tǒng)的線結(jié)構(gòu)光掃描法無法獲取目標(biāo)的彩色信息。本文提出一種多通道結(jié)構(gòu)光掃描方法進(jìn)行水下目標(biāo)的真彩色三維重建，改進(jìn)了線結(jié)構(gòu)光掃描系統(tǒng)，利用三基色激光作為主動光源，以CCD相機(jī)作為圖像接收器，，建立了水下多通道真彩色三維掃描實(shí)驗(yàn)系統(tǒng)，分通道獲取三基色彩色信息，實(shí)驗(yàn)結(jié)果表明此方法可在高分辨率三維重建的基礎(chǔ)上同時復(fù)原目標(biāo)的真彩色信息。 基于線結(jié)構(gòu)光掃描法，本文提出了一種尋址最近標(biāo)定點(diǎn)的三維重建算法，建立了掃描圖像的二維像素坐標(biāo)系與真實(shí)空間的三維世界坐標(biāo)系的映射關(guān)系；采用尋址最近標(biāo)定點(diǎn)的方法，搜索距數(shù)據(jù)點(diǎn)最近的標(biāo)定點(diǎn)，再根據(jù)已建立的坐標(biāo)系映射關(guān)系計(jì)算三維坐標(biāo)。此方法不同于傳統(tǒng)的結(jié)構(gòu)光掃描三維重建方法，不涉及三角幾何關(guān)系的計(jì)算，高效易行，易于快速、實(shí)時地獲取并重建三維信息。 為還原水下圖像的真彩色信息，提出了一種基于感光曲線擬合的三基色校正方法，建立三基色記錄值與標(biāo)準(zhǔn)值之間的映射關(guān)系，以此作為顏色還原的校正根據(jù)。在以上三基色校正方法的基礎(chǔ)上，進(jìn)一步提出基于CCD相機(jī)的水下衰減系數(shù)測量方法和衰減顏色補(bǔ)償方法。 為證明以上方法的有效性進(jìn)行了系統(tǒng)的實(shí)驗(yàn)，掃描并重建了水下三維場景，實(shí)現(xiàn)了毫米量級三維重建，并成功再現(xiàn)了水下被測物體的真實(shí)彩色紋理圖像信息；針對不同深度的水下顏色衰減，測量衰減系數(shù)，再分別利用兩種方法：功率前補(bǔ)償法、圖像后補(bǔ)償法，進(jìn)行了水下顏色補(bǔ)償實(shí)驗(yàn)，均實(shí)現(xiàn)了較為真實(shí)準(zhǔn)確的顏色再現(xiàn)。 本文提出的方法和系統(tǒng)作為一種水下三維成像方式，可以應(yīng)用于水下地形環(huán)境的探測、水下三維地形圖的繪制、水下目標(biāo)的三維重建、輔助水底資源勘探等方面，具有一定的應(yīng)用潛力和應(yīng)用價(jià)值。
[Abstract]:Underwater image detection is an important way of ocean detection. In recent years, with the rapid development of optoelectronic imaging technology and three-dimensional ranging technology, the traditional underwater image detection methods are gradually developing in the three-dimensional direction. With the attention paid by countries to the development and utilization of marine resources, underwater three-dimensional reconstruction methods have gradually become a research focus in the field of ocean exploration. Line structured light scanning method is a common underwater 3D reconstruction method, which has high reconstruction resolution and concentrated beam energy. It can reduce the influence of underwater backward scattering light and has a long detection distance, but the traditional line structured light scanning method can not obtain the color information of the target. In this paper, a multi-channel structured light scanning method is proposed to reconstruct the true color 3D of underwater targets. The line structured light scanning system is improved. Using the trichromatic laser as the active light source and the CCD camera as the image receiver, the underwater multi-channel true color 3D scanning experimental system is established, and the trichromatic color information is obtained by channels. The experimental results show that this method can restore the true color information of the target at the same time on the basis of high resolution 3D reconstruction. Based on the line structured light scanning method, a 3D reconstruction algorithm for addressing the nearest calibration point is proposed in this paper, and the mapping relationship between the two-dimensional pixel coordinate system of the scanned image and the three-dimensional world coordinate system in the real space is established, and the nearest calibration point to the data point is searched by the method of addressing the nearest calibration point, and then the three-dimensional coordinates are calculated according to the established coordinate system mapping relationship. This method is different from the traditional structured light scanning 3D reconstruction method. It does not involve the calculation of triangular geometric relations. It is efficient, easy to obtain and reconstruct 3D information in real time. In order to restore the true color information of underwater image, a three-primary color correction method based on photosensitive curve fitting is proposed, and the mapping relationship between the three primary color recording value and the standard value is established, which can be used as the correction basis for color reduction. On the basis of the above three primary color correction methods, the underwater attenuation coefficient measurement method and attenuation color compensation method based on CCD camera are further proposed. In order to prove the effectiveness of the above method, the underwater 3D scene is scanned and reconstructed, the millimeter order 3D reconstruction is realized, and the real color texture image information of the underwater measured object is successfully reproduced. Aiming at the underwater color attenuation of different depths and measuring the attenuation coefficient, two methods, pre-power compensation method and image post-compensation method, are used to carry out the underwater color compensation experiment, which realizes the more real and accurate color reproduction. As a kind of underwater 3D imaging method, the method and system proposed in this paper can be applied to the detection of underwater topographic environment, the drawing of underwater 3D topographic map, the 3D reconstruction of underwater target, the auxiliary underwater resource exploration and so on, and have certain application potential and application value.
【學(xué)位授予單位】：中國海洋大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：P714;P715.5

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