模拟水体湍流环境下目标激光点云数据的三维重建与分析

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

水下目标三维点云重建在水底勘探和水下无人航行器避障等领域有着重要的应用。本文通过实验室模拟温度和盐度水体湍流,开展了水下目标探测实验,研究了温度差和盐度差对水下潜艇、滑翔机和锚雷的激光点云三维重建效果的影响,并对重建后的三维点云数据进行误差分析。结果表明:在水下目标三维点云重建过程中,随着水体温度湍流和盐度湍流强度的增强,重建点云数据的有效点数明显下降,均值误差明显上升。研究结果对水下三维点云重建系统的研制具有一定参考价值。

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 threedimensional 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.