This paper presents experiments using a time of flight (ToF) camera modified to use 525 nm green laser illumination to capture amplitude and depth images of an underwater scene. Experiments in object imaging and ranging were conducted in both clear and turbid water. 3D imaging using flood illumination was successfully performed in clear water and in some turbid water conditions. Ranging using collimated laser beams was performed in turbid water. Several major error sources were observed, including low illumination levels, fixed pattern noise, and backscatter contribution to the phase measurement. To attempt to address these concerns, multiple lasers were used to improve illumination levels and spatial frequency domain filtering was performed to mitigate fixed pattern noise. Additionally, experiments with using multiple modulation frequencies suggested that there may be potential for discriminating backscatter from object reflection.
This paper investigates a total variation (TV) regularization image processing algorithm to restore underwater range images taken with a modified commercial time-of-flight (ToF) camera. The ToF camera illuminator was modified to support 532 nm flood illumination for underwater operation. This approach can produce highresolution amplitude and range images while rejecting a significant amount of ambient light. However, scattering due to the water turbidity adversely impacts image quality by introducing high amounts of image noise and image blurring that affect both the amplitude and range images. The TV regularization algorithm is applied to experimental images taken in a small test tank in the presence of a scattering agent to simulate a range of practical turbidities. Algorithm details are provided, and baseline and processed images are presented. The processed images demonstrate image restoration that retains the downrange edge features of the object being imaged is possible for a range of practical turbidities.
Spatial optical coherence filtering is investigated as a means of reducing the amount of scattered light collected by an underwater laser system in turbid water. This approach exploits differences in coherence between unscattered and scattered laser light as a means of discrimination against scattered light prior to opto-electronic detection. An all optical filter is designed and tested that uses an axicon and a mask to pass the coherent, unscattered light while blocking the incoherent, scattered light. Experiments are performed in a laboratory water test tank to measure the effectiveness of the filter in reducing scattered light collection. The results obtained using the axicon filter are compared to those obtained using no filtering and using a conventional spatial filter. The axicon filter is shown to reduce the contribution of scattered light relative to either other test case.
A mixed numerical and analytical technique is presented to investigate orbital angular momentum (OAM) beam scattering in turbid water for underwater lidar applications. Electromagnetic simulations are used to generate single-scattering phase functions (SSPFs) that predict the angular scattering distribution for a single particle illuminated by either a Gaussian beam or an OAM beam. These SSPFs are used in array theory and radiative transfer calculations to predict the net volumetric scattering functions (VSFs) and transmittance for multiparticle scattering in a three-dimensional space for both Gaussian and OAM beams. Simulation results show that the VSFs (and therefore the transmittance) of Gaussian and OAM beams are nearly identical, with a slight dependence on OAM charge. Laboratory water tank transmission experiments are performed to verify the simulated predictions. The experimental results are in excellent agreement with the simulation predictions.
This paper derives system performance for a chaotically modulated laser rangefinder operating in turbid water, both as a function of rangefinder parameters and as a function of water and target characteristics. An ocean impulse response simulator is used to calculate signal-to-noise-ratios and target detection performance at a variety of water turbidities and target ranges. The use of a digital filter chain is demonstrated, and its effect on system performance is considered. The use of an optical backscatter-removal filter is proposed, and its potential effect on system performance is considered.
A mixed numerical and analytical technique is presented to investigate OAM beam scattering in turbid water. Single particle scattering from an OAM beam in an underwater environment is computed numerically using COMSOL Multiphysics Modeling Software to generate single scattering functions. The array theorem extends this single scattering function to multiple scatters in a three dimensional space. Simulations predict that OAM illumination reduces forward scattering in low turbidity environments compared to scattering from Gaussian beams. In high turbidity water, scattering results from OAM beams and Gaussian beam converge. Experimental results are presented that are consistent with predictions from simulation.
We present a novel chaotic lidar system designed for underwater impulse response measurements. The system uses two recently introduced, low-cost, commercially available 462 nm multimode InGaN laser diodes, which are synchronized by a bi-directional optical link. This synchronization results in a noise-like chaotic intensity modulation with over 1 GHz bandwidth and strong modulation depth. An advantage of this approach is its simple transmitter architecture, which uses no electrical signal generator, electro-optic modulator, or optical frequency doubler.
This paper explores the use of a recently developed chaotic lidar sensor to perform impulse response measurements underwater. The sensor’s measured system impulse response, which approximates a thumbtack function with a 1 ns peak width, is used with an ocean impulse response simulator to predict the chaotic lidar’s expected performance underwater. A calibration routine is developed to compensate for the finite resolution and sidelobes in the sensor’s system impulse response, improving the accuracy of the simulated chaotic lidar results. In an example application of water turbidity measurement, the extinction coefficient of water, c, is extracted from simulated chaotic lidar impulse responses with an average error of 0.03/m over a range of turbidities from c=0.1/m to c=0.3/m. Simulations are also presented to demonstrate that the chaotic lidar sensor impulse response can simultaneously detect multiple reflective elements and the volumetric backscatter response with a 1 ns temporal resolution. Laboratory water tank measurements are performed to validate the simulation approach, and the experimental chaotic lidar measurements are in reasonable agreement with the simulated results.
We introduce an open-source fiber laser and amplifier design toolbox written in Matlab. A graphical user in-terface provides access to analysis functions for both core- and cladding-pumped, erbium- and ytterbium-dopedber lasers and amplifiers. These functions use a combination of analytical calculations and numerical simulation to predict performance and generate output plots. The finite-difference time-domain (FDTD) numerical simu-lator used implements a Lax-Wendro approach that is second-order accurate in both time and space for fast convergence. The simulator solves general active fiber wave propagation and rate equations, allowing modeling of other dopants, other system configurations, and dynamic signals. The toolbox calculations show good agreement with published results and with our own experiments.
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