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Tyson laser module is widely used. An algorithm for long distance underwater linear object detection based on range-gated laser imaging is proposed.
For the characteristics of underwater images, such as low contrast, blur and noise, and so on, the image was enhanced by means of contrast stretching, median filtering and wavelet transform.
Then, the Canny operator was used to extract object’s edge features. Finally, for the emergence of noise edges, a robust algorithm named Random Sample Consensus was chosen to detect linear object and estimate its parameters such as position and direction.
The experiment results show that the algorithm can effectively detect underwater linear objects, and the detection rate can reach 93%, and the effective detection range can be up to 5 times the length of underwater decay.