Sequential Multimodal Underwater Single-Photon Lidar Adaptive Target Reconstruction Algorithm Based on Spatiotemporal Sequence Fusion

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For the demand for long-range and high-resolution target reconstruction of slow-moving small underwater targets, research on single-photon lidar target reconstruction technology is being carried out. This paper reports the sequential multimodal underwater single-photon lidar adaptive target reconstruction algorithm based on spatiotemporal sequence fusion, which has strong information extraction and noise filtering ability and can reconstruct the target depth and reflective intensity information from complex echo photon time counts and spatial pixel relationships. The method consists of three steps: data preprocessing, sequence-optimized extreme value inference filtering, and collaborative variation strategy for image optimization to achieve high-quality target reconstruction in complex underwater environments. Simulation and test results show that the target reconstruction method outperforms the current imaging algorithms, and the built single-photon lidar system achieves underwater lateral and distance resolution of 5 mm and 2.5cm@6AL, respectively. This indicates that the method has a great advantage in sparse photon counting imaging and possesses the capability of underwater target imaging under the background of strong light noise. It also provides a good solution for underwater target imaging of small slow-moving targets with long-distance and high-resolution.