基于局部异常因子算法的三维声纳单帧重建研究

doi:10.3969/j.issn.1000-1093.2020.03.016

兵工学报 ›› 2020, Vol. 41 ›› Issue (3): 552-558.doi: 10.3969/j.issn.1000-1093.2020.03.016

基于局部异常因子算法的三维声纳单帧重建研究

曾腾^1,2,3，张春华^1,2,3，王朋^1,2

(1.中国科学院声学研究所，北京 100190; 2.中国科学院先进水下信息技术重点实验室，北京 100190; 3.中国科学院大学，北京 100049)

收稿日期:2019-05-08 修回日期:2019-05-08 上线日期:2020-05-11
通讯作者: 张春华（1962—），男，研究员，博士生导师 E-mail:zch@mail.ioa.ac.cn
作者简介:曾腾（1993—），女，博士研究生。E-mail: zengteng@mail.ioa.ac.cn
基金资助:
中国科学院青年创新促进会项目（2019023）

Research on the 3D Sonar Single-frame Reconstruction Based on Local Outlier Factor Algorithm

ZENG Teng^1,2,3, ZHANG Chunhua^1,2,3, WANG Peng^1,2

(1.Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China; 2.Key Laboratory of Science and Technology on Advanced Underwater Acoustic Signal Processing, Chinese Academy of Sciences, Beijing 100190, China; 3.University of Chinese Academy of Sciences, Beijing 100049，China)

Received:2019-05-08 Revised:2019-05-08 Online:2020-05-11

摘要/Abstract

摘要： 海洋环境的复杂性会使三维声纳获取到的点云中存在异常点，从而影响点云的后期处理和可视化。将获取到的声纳数据依次进行三维波束成像、最大值滤波和坐标系转换，进而得到原始点云。提出将局部异常因子(LOF)算法应用到点云去噪、剔除干扰的异常点，并用一种改进三角网生长方法进行单帧重建。改进三角网生长法简化了三角网生成中关键的“第三点”搜寻过程，通过实际数据处理分析得知：相比于传统阈值去噪方式，基于LOF算法的去噪方式能够在保持目标真实轮廓的前提下有效剔除非目标点；经过所提去噪方式的声纳数据能够得到更贴合实际目标轮廓的三维重建结果。

关键词: 三维声纳, 点云, 局部异常因子算法, 三角网, 去噪, 单帧重建

Abstract: 3D sonar always acquires the data point with outliers in the complex marine environment, which affects the post processing and visualization of point cloud. 3D beamforming imaging, maximum filtering and coordinate transformation are made for the sonar data to obtain the original point cloud. The local outlier factor (LOF) algorithm is used to eliminate the abnormal points, and a modified triangulation growing method is used for single-frame reconstruction. In the modified triangulation growing method, the crucial process of ‘the third point’ finding in triangular mesh generation is simplified. A denoising method based on LOF algorithm can be used to eliminate the points not belonging to the target under the premise in keeping the real contour of target compared with the traditional threshold denoising method. And the 3D reconstruction result of more realistic target contour can be achieved from the sonar data obtained by the proposed denoising method. Key

Key words: three-dimensionalsonar, pointcloud, localoutlierfactor, triangulationmesh, denoising, single-framereconstruction

中图分类号:

曾腾，张春华，王朋. 基于局部异常因子算法的三维声纳单帧重建研究[J]. 兵工学报, 2020, 41(3): 552-558.

ZENG Teng, ZHANG Chunhua, WANG Peng. Research on the 3D Sonar Single-frame Reconstruction Based on Local Outlier Factor Algorithm[J]. Acta Armamentarii, 2020, 41(3): 552-558.

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基于局部异常因子算法的三维声纳单帧重建研究

Research on the 3D Sonar Single-frame Reconstruction Based on Local Outlier Factor Algorithm

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