Three-dimensional reconstruction and analysis of target laser point cloud data in simulated turbulent water environment

Three-dimensional point cloud reconstruction of underwater targets has important applications in underwater exploration and obstacle avoidance of underwater unmanned vehicles. In this paper, the underwater target detection experiment is carried out by simulating the temperature and salinity water turbulence in the laboratory, and the influence of temperature difference and salinity difference on the laser point cloud three-dimensional reconstruction effect of underwater submarines, gliders and anchor mines are studied, and the error analysis of the reconstructed 3D point cloud data is carried out. The results show that in the process of underwater target 3D point cloud reconstruction, with the enhancement of water temperature turbulence and salinity turbulence intensity, the effective points of the reconstructed point cloud data decrease significantly, and the mean error increased significantly. The research results have a certain reference value for the development of underwater three-dimensional point cloud reconstruction system.