Author Affiliations
1 School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, China2 National Demonstration Center for Experimental Mechanical Engineering, School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, China3 Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, China4 Institute of Automation Shangdong Academy of Sciences, Jinan, Shandong 250013, China5 School of Construction Machinery, Shandong Jiaotong University, Jinan, Shandong 250023, Chinashow less
Fig. 1. Flow chart of the proposed method
Fig. 2. Schematic of underwater light absorption
Fig. 3. Contrast color-compensated image and original image. (a) Original image; (b) red channel; (c) green channel; (d) blue channel; (e) color compensated image based on bright channel; (f) color compensated red channel; (g) color compensated green channel; (h) color compensated blue channel
Fig. 4. Schematic of underwater optical imaging
Fig. 5. Adaptive contrast-stretched image. (a) Original image; (b) contrast-stretched image
Fig. 6. Weight maps. (a) Color-compensated image (input1); (b) normalized weight maps for input1; (c) contrast-stretched image (input2); (d) normalized weight maps for input2
Fig. 7. Color recovery test. (a) Standard color checker; (b) original image; (c) CALHE method; (d) DCP method; (e) MSRCR method; (f) proposed method
Fig. 8. Color distortion image test. (a) Original image; (b) CALHE method; (c) DCP method; (d) MSRCR method; (e) proposed method
Fig. 9. Hazed image test. (a) Group of original images; (b) CALHE method; (c) DCP method; (d) MSRCR method; (e) proposed method
Fig. 10. Application test. (a) Feature point matching in the original image; (b) feature point matching in image processed using the proposed method
Image set | CLAHE | DCP | MSRCR | Proposed method |
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MSE | PSNR | | MSE | PSNR | | MSE | PSNR | | MSE | PSNR |
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Image1 | 17334.7 | 5.742 | 1286.1 | 17.038 | 30025.7 | 3.356 | 13756.7 | 6.746 | Image2 | 25656.7 | 4.039 | 131.2 | 26.950 | 40382.6 | 2.069 | 10960.7 | 7.732 | Image3 | 10310.8 | 7.998 | 10852.3 | 7.776 | 5125.3 | 11.034 | 5098.9 | 11.189 | Image4 | 11414.6 | 7.556 | 11241.3 | 7.623 | 7356.3 | 9.464 | 2926.18 | 13.468 | Image5 | 6096.6 | 10.280 | 5987.6 | 10.358 | 8335.1 | 8.922 | 3926.3 | 12.191 | Image6 | 9868.3 | 8.185 | 6853.7 | 9.772 | 9747.0 | 8.242 | 5490.1 | 10.735 | Image7 | 7516.7 | 9.371 | 17752.8 | 5.638 | 7423.7 | 9.425 | 3174.0 | 13.115 |
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Table 1. Quality evaluation of underwater images
Image set | Original image | Proposed method |
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First group | 4 | 28 | Second group | 8 | 19 | Third group | 6 | 56 | Forth group | 7 | 17 |
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Table 2. Number of feature points matching contrast in original images and images processed using our method