Underwater structured environment line feature extraction method based on forward looking sonar

• Main Authors: MA TENG, FAN YANFU, SUI YANCHENG, NIU BOCHENG, SHENG MINGWEI, ZHANG QIANG, LI YE, ZHANG GUOCHENG, ZHANG WEN, CAO JIAN
• Format: Patent
• Language: Chinese; English
• Published: 22.05.2018
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention provides an underwater structured environment line feature extraction method based on forward looking sonar. The method comprises steps: dynamic threshold segmentation is carried out onforward looking sonar data to acquire the total number of high echo intensity points and polar coordinates in a carrier system; within the limited cycle times, two not-isolated and not-adjacent pointsare randomly selected from the high echo intensity points to form a straight line, points with the distances with the straight line smaller than a preset threshold are selected to form a candidate point set, the ratio of the potential of the candidate point set to the total point number is calculated, if the ratio is no smaller than the threshold, the straight line is used as an auxiliary straight line, and the cycle is stopped; based on the parameters of the auxiliary straight line and the corresponding candidate point set distribution features, the voting space for structured environment line feature parameters is c