Three-dimensional reconstruction and analysis of target laser point cloud data in simulated turbulent water environment

Wang Mingjun; Peng Yue; Liu Yanrong; Li Yongjun; Li Le

doi:10.12086/oee.2023.230004

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Wang M J, Peng Y, Liu Y R, et al. Three-dimensional reconstruction and analysis of target laser point cloud data in simulated turbulent water environment[J]. Opto-Electron Eng, 2023, 50(6): 230004. doi: 10.12086/oee.2023.230004

Citation:

Wang M J, Peng Y, Liu Y R, et al. Three-dimensional reconstruction and analysis of target laser point cloud data in simulated turbulent water environment[J]. Opto-Electron Eng, 2023, 50(6): 230004. doi: 10.12086/oee.2023.230004

Three-dimensional reconstruction and analysis of target laser point cloud data in simulated turbulent water environment

1.
School of Automation and Information Engineering, Xi'an University of Technology, Xi'an, Shaanxi 710048, China
2.
Xi'an Key Laboratory of Wireless Optical Communication and Network Research, Xi'an, Shaanxi 710048, China
3.
Shaanxi Civil-Military Integration Key Laboratory of Intelligence Collaborative Networks, Xi'an, Shaanxi 710126, China
4.
National Key Laboratory of Scattering and Radiation, Beijing 100854, China
5.
Tianjin Jinhang Institute of Technical Physics, Tianjin 300308, China

Fund Project: Project supported by Training Program of the Major Research Plan of the National Natural Science Foundation of China (92052106), the National Natural Science Foundation of China (61771385), Science Foundation for Distinguished Young Scholars of Shaanxi Province (2020JC-42), Open Fund for Key Laboratory of Solid-State Laser Technology (6142404190301), and the Xi'an University Talents Service Enterprise Project (GXYD14.26)

More Information

^*Corresponding author: wangmingjun@xaut.edu.cn

Received Date 04 January 2023

Revised Date 01 April 2023

Accepted Date 11 April 2023

Published Date 25 June 2023

Abstract

Abstract

Three-dimensional point cloud reconstruction of underwater targets has important applications in underwater exploration and obstacle avoidance of underwater unmanned vehicles. In this paper, the underwater target detection experiment is carried out by simulating the temperature and salinity water turbulence in the laboratory, and the influence of temperature difference and salinity difference on the laser point cloud three-dimensional reconstruction effect of underwater submarines, gliders and anchor mines are studied, and the error analysis of the reconstructed 3D point cloud data is carried out. The results show that in the process of underwater target 3D point cloud reconstruction, with the enhancement of water temperature turbulence and salinity turbulence intensity, the effective points of the reconstructed point cloud data decrease significantly, and the mean error increased significantly. The research results have a certain reference value for the development of underwater three-dimensional point cloud reconstruction system.
- underwater detection /
- water turbulence simulation /
- three-dimensional point cloud reconstruction /
- error analysis

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References

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Overview

Overview

Underwater target detection has important applications in underwater accident search and rescue, equipment maintenance and resource exploration. At present, underwater acoustic detection is the most common detection method, but it has the shortcomings of low resolution and target edge blur, and it is difficult to effectively identify the target. The underwater optical detection system perfectly makes up for the shortage of underwater acoustic detection. However, the existence of ocean turbulence seriously restricts the development of underwater optical detection. The generation of ocean turbulence is mainly due to the influence of temperature and salinity. In addition, it is very difficult to carry out underwater detection experiments directly in the real ocean turbulence environment. Therefore, this paper simulates the ocean turbulence in the laboratory by changing the salinity difference and temperature difference of the water body. The effects of turbulence intensity on the three-dimensional reconstruction of underwater laser point clouds of submarines, gliders and anchor mines are studied.

We used lidar to collect the original point cloud data of targets in different water environments within the experimental glass tank. The original point cloud data obtained from the experiment was then processed by using the threshold segmentation refraction correction and point cloud denoising algorithms. In the original point cloud data, the threshold segmentation separated the target point cloud and the backscattered noise point. Refraction correction corrected the influence of refraction during crossing the medium by correcting the parameters in the spherical coordinate system. To filter out noise points in the point cloud data, we first calculated the average distance from all points to their neighbors by the point cloud denoising method and then set the filtering threshold based on the obtained value. Finally, we mounted the 3Dmax-processed standard point cloud data to the k-d tree, queried the minimum distance between all points in the reconstructed point cloud data and the generated k-d tree, and saved the closest point of all points in the reconstructed point cloud. The output was used to show the error between the reconstructed point cloud and the standard point cloud.

In this paper, by changing the temperature difference and salinity difference, the influence of different turbulence intensities on the three-dimensional point cloud reconstruction of underwater targets is studied. The results show that, in the process of 3D point cloud reconstruction of underwater targets, with the increasingly harsh water temperature turbulence and salinity turbulence environment, the effective points of the reconstructed point cloud show a downward trend, and the average error shows an upward trend.