Experimental study of underwater operation scene with target perception framework

Abstract This paper proposes a target perception framework to explore information on underwater operation scene, for assisting the operation and ensuring the safety of the diver. The framework adopts a layered processing mechanism including water column imaging, constant false alarm rate detection (CFAR) detection and local feature analysis. To simulate the underwater operation scene of the diver, experiments under three fields of view are designed: fixed view of the down-looking, fixed view of the front-looking, and mobile view of the side-looking. The experimental results show that the target perception framework can accurately distinguish false targets, static targets, and dynamic targets in the underwater operation scene, and obtain the motion trajectory of dynamic targets. Moreover, the approximate stereoscopic contour of the diver and bubble groups can be drawn by 3D reconstruction of underwater scene data.