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NL2030845B1 - Positioning and correction method and system of video data using seabed topographic profile - Google Patents

Positioning and correction method and system of video data using seabed topographic profile Download PDF

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Publication number
NL2030845B1
NL2030845B1 NL2030845A NL2030845A NL2030845B1 NL 2030845 B1 NL2030845 B1 NL 2030845B1 NL 2030845 A NL2030845 A NL 2030845A NL 2030845 A NL2030845 A NL 2030845A NL 2030845 B1 NL2030845 B1 NL 2030845B1
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Prior art keywords
profile
offset
water depth
line water
data sequence
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NL2030845A
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Dutch (nl)
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NL2030845A (en
Inventor
Zhao Qiukui
Ye Jun
Yan Shijuan
Ren Xiangwen
Du Dewen
Zhao Yue
Yang Gang
Li Chuanshun
Zhu Zhiwei
Shi Xinyu
Shi Fengdeng
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First Institute Of Oceanography Mini Of Natural Resources
Pilot National Laboratory For Science And Tech Development Center Qingdao
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Priority to NL2030845A priority Critical patent/NL2030845B1/en
Publication of NL2030845A publication Critical patent/NL2030845A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Multimedia (AREA)
  • Image Processing (AREA)

Abstract

The present disclosure relates to a positioning and correction method and system of video data using seabed topographic profile, and the method includes: offsetting the target survey line water depth profile equally in a grid layer of a target area to obtain each offset data sequence corresponding to the target survey line water depth profile; drawing offset topographic profiles in batches based on offset data in the each offset data sequence corresponding to the target survey line water depth profile; calculating a profile similarity between the target survey line water depth profile and each offset topographic profile by using a Dynamic Time Warping optimized algorithm according to the original data sequence and the each offset data sequence; selecting a geographic location of an offset topographic profile with a greatest profile similarity as an actual geographic location of a seabed video survey line water depth profile.

Description

POSITIONING AND CORRECTION METHOD AND SYSTEM OF
VIDEO DATA USING SEABED TOPOGRAPHIC PROFILE
TECHNICAL FIELD
[OI] The present disclosure relates to a technical field of application of seabed solid mineral resources, in particular to a positioning and correction method and system of video data using seabed topographic profile.
BACKGROUND ART
[02] At present, positioning methods for seabed video data, that is positioning using ultra-short baseline, but this technology has the following problems:
[03] (1) due to the dynamic change of marine environment, installation and calibration deviation of survey instruments, measurement reliability of peripheral equipments, sound velocity measurement and correction accuracy, large gross error and continuous abnormal error will occur in ultrashort baseline positioning;
[04] (2) since the ultra-short baseline positioning system is one of underwater acoustic positioning technologies, for the underwater acoustic positioning system, the uneven distribution of underwater sound velocity will cause the bending of sound line, which will seriously affect the positioning accuracy of the system.
[05] In summary, there are problems such as low precision and low accuracy in the current positioning of seabed video data using ultra-short baselines.
SUMMARY
[06] The purpose of the present disclosure is to provide a positioning and correction method and system of video data using seabed topographic profile, so as to improve calibration accuracy and precision.
[07] In order to achieve the above purpose, the present disclosure provides a positioning and correction method and system of video data using seabed topographic profile, including:
[08] obtaining an original data sequence corresponding to a target survey line water depth profile;
[09] offsetting the target survey line water depth profile equally in a grid layer of a target area to cause all profiles generated after offset to traverse the grid layer of the target area to obtain each offset data sequence corresponding to the target survey line water depth profile;
[10] taking distance as an abscissa and elevation value as an ordinate, drawing offset topographic profiles in batches based on offset data in the each offset data sequence;
[11] calculating a profile similarity between the target survey line water depth profile and each offset topographic profile by using a Dynamic Time Warping optimized algorithm. according to the original data sequence and the each offset data sequence;
[12] selecting a geographic location of an offset topographic profile with a greatest profile similarity as an actual geographic location of a seabed video survey line water depth profile.
[13] The present disclosure also provides a positioning and correction system of video data using seabed topographic profile including:
[14] an obtaining module, obtaining an original data sequence corresponding to a target survey line water depth profile;
[15] an offsetting module, offsetting the target survey line water depth profile equally ina grid layer of a target area to cause all profiles generated after offset to traverse the grid layer of the target area to obtain each offset data sequence corresponding to the target survey line water depth profile;
[16] a drawing module, taking distance as an abscissa and elevation value as an ordinate, drawing offset topographic profiles in batches based on offset data in the each offset data sequence;
[17] a profile similarity calculating module, calculating a profile similarity between the target survey line water depth profile and each offset topographic profile by using a
Dynamic Time Warping optimized algorithm.according to the original data sequence and the each offset data sequence;
[18] a correcting module, selecting a geographic location of an offset topographic profile with a greatest profile similarity as an actual geographic location of a seabed video survey line water depth profile.
[19] According to the specific embodiment provided by the present disclosure, the present disclosure discloses the following technical effects:
[20] The scheme disclosed by the present disclosure does not need to use the data obtained by the ultra-short baseline positioning system, only needs to obtain the original data sequence corresponding to the target survey line water depth profile, and then the offset topographic profiles can be extracted and drawn in batches at certain intervals in the target area, and Dynamic Time Warping algorithm can be improved. The improved algorithm is used to batch calculate the similarity between the extracted offset topographic profile and the target profile, and finally the topographic profile with the highest similarity with the target topographic profile can be matched in the target area quickly and accurately, so as to achieve the purpose of positioning and correction of seabed video data. In addition, in the process of location and correction, limitations of the original Dynamic Time
Warping algorithm in the field are solved.
BRIEF DESCRIPTION OF THE DRAWINGS
[21] Fis. 1 is a flowchart of a positioning and correction method of video data using seabed topographic profile of the present disclosure;
[22] Fig. 2 is an example diagram of pathological matching of the present disclosure;
[23] Fig. 3 is a schematic diagram of two sequences matching of the present disclosure;
[24] Fig. 4 is a structural diagram of a positioning and correction system of video data using seabed topographic profile of the present disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[25] As shown in Fig. 1, the present disclosure discloses a positioning and correction method of video data using seabed topographic profile, the method including:
[26] Step SI: obtaining an original data sequence a, a=(ai,az,...a;,...an) corresponding to a target survey line water depth profile, wherein the length is n, n is a positive integer greater than 2, and a; represents the original data corresponding to a i-th target survey line water depth profile; data corresponding to the target survey line water depth profile includes the longitude, latitude and elevation information of each grid in a whole target survey line.
[27] In the embodiment, da. UpdateCursor function in arcpy toolkit are used to read the data corresponding to the target survey line water depth profile, and then the original data sequence corresponding to the target survey line water depth profile is formed.
[28] Step S2: offsetting the target survey line water depth profile equally in a grid layer of a target area to cause all profiles generated after offset to traverse the grid layer of the target area to obtain each offset data sequence b, b=(b1,b2,***b;,"*:bm) corresponding to the target survey line water depth profile, wherein the length is m, and m 1s a positive integer greater than 2, b; represents the offset data corresponding to each target survey line water depth profile. The offset data corresponding to the each target survey line water depth profile includes FIRST DIST value and FIRST Z value, wherein FIRST DIST value is the Euclidean distance from each point of the profile after offset to a starting point of the profile after offset, FIRST Z value is the elevation value after offset, which is obtained by combining the position of the target area of the offset profile with the original grid data.
The grid layer of the target area is drawn from the original grid data of multiple target areas. The original grid data of the target area includes the longitude, latitude and elevation information of each grid in the target area.
[29] In the embodiment, the Describe function and Raster function of the arcpy toolkit are used to obtain a length range of the target survey line water depth profile to be corrected in x and y directions and a grid range of the target area respectively, and then the floor function of math toolkit is used to calculate the batch offset of the target survey line water depth profile in the target area in East, West, North and south directions. The Array function of the arcpy toolkit is used to record all profile coordinates after offset as a coordinate array, the Polyline function of the arcpy toolkit is used to convert the coordinate array into a polyline class can recognized by the arcpy toolkit, and finally circular statements and CopyFeatures management function of the arcpy toolkit to export each offset data sequence b in batches.
[30] Step S3: taking distance as an abscissa and elevation value as an ordinate, drawing offset topographic profiles in batches based on offset data in the each offset data sequence 5b; calling multiple offset topographic profiles whose offset distance is less than a set offset distance as seabed topographic profiles.
[31] In the embodiment, loop statements and the StackProfile 3d function of the arcpy toolkit are used to batch output and store each offset data sequence b corresponding to the target survey line water depth profile into an output table of csv type. The read csv function of a pandas toolkit is used to read the offset data corresponding to each target survey line water depth profiles in the output table, and then the loop statements and the pylab toolkit are used to draw the offset topographic profiles in batches, and store in a specified folder.
[32] Step 4: calculating a profile similarity between the target survey line water depth profile and each offset topographic profile by using a Dynamic Time Warping optimized algorithm according to the original data sequence a and the each offset data sequence b.
[33] Step S41: according to the original data sequence a and each offset data sequence b by using the Dynamic Time Warping optimized algorithm. The specific formula is: gg, m=n=298 { DTW(a. hi2, m}
DTW{a, b} = {dist{a,. by} + min DTW(al2, nlb) ‚others lorwal n}, biZ. m}}
[34] i co ,‚m = Ön =Û :
[35] wherien, Fout! Verwijzingsbron niet gevonden. represents the dynamic time warp, Fout! Verwijzingsbron niet gevonden. represents a first non-zero data point on the profile data sequence, m represents a length of the offset data sequence b, and n represents a length of the original data sequence a, and both n and m in the min function represent positive integers greater than 2.
[36] Step S42: calculating the original distance between two sequences according to the dynamic time warp, the specific formula is:
[37] Fout! Verwijzingsbron niet gevonden.;
[38] wherein, distance represents the original distance between the two sequences.
[39] Step S43: calculating the distance similarity between the two sequences according to the original distance between the two sequences, and the specific formula is:
[40] Fout! Verwijzingsbron niet gevonden.
[41] wherein, similarity represents the distance similarity between two sequences.
[42] Step S44: taking the original distance corresponding to the maximum distance similarity as the shortest distance, and the path corresponding to the shortest distance is the optimal path.
[43] Taking Fig. 2 as an example, the distance between the two topographic profile sequences is too large at the position indicated by the dotted circle, which increases the original distance between the two sequences, which will lead to the phenomenon of "pathological match" during a matching process. If the curve is moved forward or backward appropriately, the influence of "pathological match" on the similarity will be eliminated. Since the longer the longest common substring of the two sequences, the smaller the deviation, and the smaller the range to be adjusted. Therefore, the present disclosure defines a penalty coefficient a to adjust the original algorithm. The length of each diagonal straight line 1s shown as the slash in Fig. 3.
[44] Step S45: calculating the penalty coefficient based on a number of optimal path nodes when calculating the shortest distance and the length of each diagonal straight line.
The specific formula is: [a . x comblen,” a=1- 2 segLen
[45] NC
[46] wherein, Fout! Verwijzingsbron niet gevonden. represents a length of the i-th diagonal straight line when calculating the shortest distance, Fout! Verwijzingsbron niet gevonden. represents a number of optimal path nodes when calculating the shortest distance, a represents the penalty coefficient.
[47] Step S46: calculating the profile similarity between the target survey line water depth profile and each offset topographic profile according to the penalty coefficient and the original distance between the two sequences. The specific formula is: 4s] © p_distance = distance » a, a 1 ii p_similar Hy = 1+ up distance
[49] ;
[50] wherein, distance represents the original distance between two sequences, arepresents the penalty coefficient, Fout! Verwijzingsbron niet gevonden.up similarity represents to the similarity between the target survey line water depth profile and each offset topographic profile.
[51] Step SS: selecting a geographic location of an offset topographic profile with a greatest profile similarity as an actual geographic location of a seabed video survey line water depth profile. In the embodiment, the similarity between the target survey line water depth profile and each offset topographic profile is sorted by python, and the topographic profile with the highest similarity of the target survey line water depth profile in the target area is matched, that is, the purpose of positioning and correcting the video survey line water depth profile is achieved.
[52] As shown in Fig. 4, the present disclosure further provides a positioning and correction system of video data using seabed topographic profile, and the system includes: [S3] An obtaining module 401, obtaining an original data sequence corresponding to a target survey line water depth profile.
[54] An offsetting module 402, offsetting the target survey line water depth profile equally in a grid layer of a target area to cause all profiles generated after offset to traverse the grid layer of the target area to obtain each offset data sequence b corresponding to the target survey line water depth profile;
[55] A drawing module 403, taking distance as an abscissa and elevation value as an ordinate, drawing offset topographic profiles in batches based on offset data in the each offset data sequence; calling multiple offset topographic profiles whose offset distance is less than a set offset distance as seabed topographic profiles. [S6] A profile similarity calculating module 404, calculating a profile similarity between the target survey line water depth profile and each offset topographic profile by using a Dynamic Time Warping optimized algorithm. according to the original data sequence and the each offset data sequence;
[57] A correcting module 405, selecting a geographic location of an offset topographic profile with a greatest profile similarity as an actual geographic location of a seabed video survey line water depth profile.
[58] The same steps as the method and the formulas refer to the content in the method.

Claims (2)

Conclusies l. Positiebepalings- en correctiewerkwijze van videodata die gebruik maakt van een zeebedtopografisch profiel, die het volgende omvat: het verkrijgen van een originele datasequentie die overeenkomt met een doelmeetlijnwaterdiepteprofiel; het gelijkmatig verschuiven van het doelmeetlijnwaterdiepteprofiel in een rasterlaag van een doelgebied om ervoor te zorgen dat alle profielen die na het verschuiven worden gegenereerd de rasterlaag van een doelgebied doorkruisen om elke verschoven datasequentie te verkrijgen die overeenkomt met het doelmeetlijnwaterdiepteprofiel; het nemen van afstand als een abscis en hoogtewaarde als een ordinaat, het tekenen van verschoven topografische profielen in batches op basis van verschoven data in elke verschoven datasequentie; het berekenen van een profielgelijkheid tussen het doelmeetlijnwaterdiepteprofiel en elk verschoven topografisch profiel door gebruik te maken van een geoptimaliseerd Dynamischetijdvervormingsalgoritme volgens de originele datasequentie en elke verschoven datasequentie; het selecteren van een geografische locatie van een verschoven topografisch profiel met een grootste profielgelijkheid als een daadwerkelijke geografische locatie van een zeebedvideomeetlijnwaterdiepteprofiel.Conclusions l. Video data positioning and correction method using a seabed topographic profile, comprising: obtaining an original data sequence corresponding to a target measurement line water depth profile; smoothly shifting the target gauge line water depth profile in a target area grid layer to cause all profiles generated after the shift to intersect the target area grid layer to obtain each offset data sequence corresponding to the target gauge line water depth profile; taking distance as an abscissa and elevation value as an ordinate, drawing offset topographic profiles in batches based on offset data in each offset data sequence; calculating a profile similarity between the target gauge line water depth profile and each offset topographic profile using an optimized Dynamic Time Distortion algorithm according to the original data sequence and each offset data sequence; selecting a geographic location of a shifted topographic profile with greatest profile similarity as an actual geographic location of a seabed video survey line water depth profile. 2. Positiebepalings- en correctiesysteem van videodata dat gebruik maakt van zeebedtopografisch profiel, dat het volgende omvat: een verkrijgingsmodule, die een originele datasequentie verkrijgt die overeenkomt met een doelmeetlijnwaterdiepteprofiel; een verschuivingsmodule, die het doelmeetlijnwaterdiepteprofiel gelijkmatig verschuift in een rasterlaag van een doelgebied om ervoor te zorgen dat alle profielen die na het verschuiven worden gegenereerd de rasterlaag van het doelgebied doorkruisen om elke verschoven datasequentie die overeenkomt met het doelmeetlijnwaterdiepteprofiel te verkrijgen; een tekenmodule, die een afstand als een abscis neemt en een hoogtewaarde als een ordinaat, die verschoven topografische profielen tekent in batches op basis van verschoven data in elke verschoven datasequentie; een profielgelijkheidsberekeningsmodule, die een profielgelijkheid berekent tussen het doelmeetlijnwaterdiepteprofiel en elk verschoven topografisch profiel door gebruik te maken van een geoptimaliseerd Dynamischetijdvervormingsalgoritme volgens de originele datasequentie en elke verschoven datasequentie; een correctiemodule, die een geografische locatie van een verschoven topografisch profiel selecteert met een grootste profielgelijkheid als een daadwerkelijke geografische locatie van een zeebedvideomeetlijnwaterdiepteprofiel.A video data positioning and correction system using seabed topographic profile, comprising: an acquisition module, which obtains an original data sequence corresponding to a target measurement line water depth profile; an offset module, which shifts the target gauge line water depth profile uniformly in a target area raster layer to ensure that all profiles generated after the offset intersect the target area raster layer to obtain any offset data sequence corresponding to the target gauge line water depth profile; a drawing module, taking a distance as an abscissa and a height value as an ordinate, which draws offset topographical profiles in batches based on offset data in each offset data sequence; a profile similarity calculation module, which calculates a profile similarity between the target measurement line water depth profile and each offset topographic profile using an optimized Dynamic Time Distortion algorithm according to the original data sequence and each offset data sequence; a correction module, which selects a geographic location of an offset topographic profile with a greatest profile similarity as an actual geographic location of a seabed video measurement line water depth profile.
NL2030845A 2022-02-08 2022-02-08 Positioning and correction method and system of video data using seabed topographic profile NL2030845B1 (en)

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