A laser digital scanning grid approach to three dimensional real-time detection of underwater targets

During underwater scanning, navigation, and other tasks, the acquisition of large scale 3D terrain information is very important for underwater vehicle (UV) navigation and safety. In this paper, we propose a new approach to underwater target detection using a discontinuous digital laser scanning grid. It is shown that the proposed approach can suppress scattering background noise generated by suspended particles in the water, and also detect the relative depth information of multiple underwater targets. The proposed approach can acquire clear underwater images by suppressing laser background scattering noise, and can display multiple targets within the visual field simultaneously.