Abstract
There are many tasks that require clear and easily recognizable images in the field of underwater robotics and marine science, such as underwater target detection and identification of robot navigation and obstacle avoidance. However, water turbidity makes the underwater image quality too low to recognize. This paper proposes the use of the dark channel prior model for underwater environment recognition, in which underwater reflection models are used to obtain enhanced images. The proposed approach achieves very good performance and multi-scene robustness by combining the dark channel prior model with the underwater diffuse model. The experimental results are given to show the effectiveness of the dark channel prior model in underwater scenarios.
Highlights
Underwater robotics, marine science, and underwater exploration have become more active in recent years
For an an original original picture, picture, we we identify identify the the degree degree of of turbidity turbidity in in the the original original picture picture through through the the underwater environment recognizer, recognizer, since sincethe thedegree degreeofofturbidity turbidity determines parameters of underwater environment determines thethe parameters of the the underwater reflection model
After our observation and conclusion of previous underwater research measurements, we found found that most of the underwater images could be divided into four types: pure water, clean water, that most of the underwater images could be divided into four types: pure water, clean water, mildly mildly turbid water, and severely turbid water
Summary
Underwater robotics, marine science, and underwater exploration have become more active in recent years. There is serious back-scattering noise due to scattering and absorption, and underwater images often suffer from poor quality, such as low contrast, blur, and so on. In which Lr represents the image we see, Lp indicates the picture without noise, c represents the attenuation coefficient of water, l represents the distance between the object and the camera, kf is a constant related to the focal length, β(θ) represents the volume scattering coefficient, and I(r) represents the intensity of light on the object plane. [5,6,7]have haveproposed proposed a variety of methods determination of c β(θ) and and β(θ) given measurements under different underwater environments.
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