The Bahamas Optical Turbulence Experiment (BOTEX) was conducted in the summer of 2011 to investigate the impact of turbulence on underwater optical imaging. Underwater optical properties can be affected by turbulence in the water, due to localized changes in the index of refraction. We discuss measurements of current velocity and temperature, made with a Nortek Vector Acoustic Doppler Velocimeter (ADV) and PME Conductivity- Temperature (CT) probe, as well as observations made with a Rockland Oceanographic Vertical Microstructure Profiler (VMP). The instruments were deployed in close proximity in the field and in the context of measurements of optical target clarity. Turbulent kinetic energy dissipation (TKED) and temperature dissipation (TD) rates are calculated from the ADV/CT measurements and compared to TKED and TD estimated from the data collected with the VMP. The results show reasonable agreement between the two methods; differences are attributed to turbulence patchiness and intermittence, as well as sampling challenges. The study also highlights the importance of collecting concurrent data on temperature, current velocity, and current shear to assess the turbulence impact on underwater optical properties.
The Bahamas Optical Turbulence Exercise (BOTEX) was conducted in the coastal waters of Florida and the Bahamas
from June 30 to July 12 2011, onboard the R/V FG Walton Smith. The primary objective of the BOTEX was to obtain
field measurements of optical turbulence structures, in order to investigate the impacts of the naturally occurring
turbulence on underwater imaging and optical beam propagation. In order to successfully image through optical
turbulence structures in the water and examine their impacts on optical transmission, a high speed camera and targets
(both active and passive) were mounted on a rigid frame to form the Image Measurement Assembly for Subsurface
Turbulence (IMAST). To investigate the impacts on active imaging systems such as the laser line scan (LLS), the
Telescoping Rigid Underwater Sensor Structure (TRUSS) was designed and implemented by Harbor Branch
Oceanographic Institute. The experiments were designed to determine the resolution limits of LLS systems as a function
of turbulence induced beam wander at the target. The impact of natural turbulence structures on lidar backscatter
waveforms was also examined, by means of a telescopic receiver and a short pulse transmitter, co-located, on a vertical
profiling frame. To include a wide range of water types in terms of optical and physical conditions, data was collected
from four different locations. . Impacts from optical turbulence were observed under both strong and weak physical
structures. Turbulence measurements were made by two instruments, the Vertical Microstructure Profiler (VMP) and a
3D acoustical Doppler velocimeter with fast conductivity and temperature probes, in close proximity in the field.
Subsequently these were mounted on the IMAST during moored deployments. The turbulence kinetic energy dissipation
rate and the temperature dissipation rates were calculated from both setups in order to characterize the physical
environments and their impacts. Beam deflection by multiple point patterns are examined, using high speed camera
recordings (300 to 1200 fps), in association with measured turbulence structures. Initial results confirmed our hypothesis
that turbulence impacted optical transmissions. They also showed that more research will be needed to better quantify
and mitigate such effects, especially for the U.S. Navy's next generation EO systems, including active imaging, lidar and
optical communications.
The ability to image underwater is highly desired for scientific and military applications, including optical communications, submarine awareness, diver visibility, and mine detection. Underwater imaging is severely impaired by scattering and optical turbulence associated with refractive index fluctuations. This work introduces a novel approach to restoration of degraded underwater imagery based on a multi-frame correction technique developed for atmospheric distortions. The method represents synthesis of "lucky-region" fusion with nonlinear gain and optical flow-based image warping. The developed multiframe image restoration algorithm is tested on underwater imagery collected in a laboratory tank and in a field exercise. Reliance of image restoration on accuracy of the optical flow algorithm is revealed. The developed algorithm demonstrates significant resolution improvement of the restored image in comparison to any single frame or the mean of the underwater image sequence.
It is a well-known fact that the major degradation source on EO imaging underwater is from scattering by the
medium itself and the constituents within, namely particles of various origins and sizes. Recent research indicates
that under certain conditions, such degradations could be caused mainly by the variations of index of refraction
associated with temperature and salinity micro-structures in the ocean. These would inherently affect the optical
signal transmission underwater, which is of vital interest to both civilian and military applications, as they could
include diver visibility, search and rescue, mine detection and identification, and optical communication. The
impacts from the optical turbulence are yet fully understood, in part due to the challenges associated with
parameterization of individual factors. This study presents the initial attempts in quantifying the level of EO image
degradation due to optical turbulence in natural waters, in terms of modulation transfer functions, and enhancements
using the lucky patch approaches derived from optical flow techniques. Image data collected from natural
environments during SOTEX (Skaneateles Optical Turbulence Exercise, July 22-31, 2010) using the Image
Measurement Assembly for Subsurface Turbulence (IMAST) are presented. Optical properties of the water column
were measured using WETLab's ac-9 and LISST (Laser In Situ Scattering and Transmissiometry), in coordination
with temperature, conductivity and depth. Turbulence conditions were measured by two different approaches,
namely a 3D Doppler based velocimeter with Conductivity/Temperature combo, and a shear based Vertical
Microstructure Profiler.
Ability to image underwater is highly desired for scientific and military applications, including optical
communications, submarine awareness, diver visibility, and mine detection. Underwater imaging is severely
impaired by scattering and optical turbulence associated with refraction index fluctuations. This work introduces
novel approach to restoration of degraded underwater imagery based on multi-frame correction technique developed
for atmospheric distortions. The method represents synthesis of "lucky-region" fusion and optical flow based image
warping. Developed multi-frame image restoration algorithm is applied to sets of images collected in laboratory
under controlled conditions as well as field test data. Reliance of image restoration on sophistication of the optical
flow algorithm is shown. Variable degrees of image degradation mitigation which manifest themselves as high
spatial frequency content recovery are demonstrated depending on imaging conditions and ratio of typical image
spatial frequency scale to typical degradation spatial frequency scale.
Enhancing visibility through scattering media is important in many fields for gaining information from the
scattering medium. In the ocean, in particular, enhancement of imaging and visibility is important for divers, navigation,
robotics, and target and mine detection and classification. Light scattering from particulates and turbulence in the ocean
strongly affects underwater visibility. The magnitude of this degrading effect depends upon the underwater environment,
and can rapidly degrade the quality of underwater imaging under certain conditions. To facilitate study of the impact of
turbulence upon underwater imaging and to check against our previously developed model, quantified observation of the
image degradation concurrent with characterization of the turbulent flow is necessary, spanning a variety of turbulent
strengths. Therefore, we present field measurements of turbulence microstructure from the July 2010 Skaneateles Optical
Turbulence Exercise (SOTEX), during which images of a target were collected over a 5 m path length at various depths
in the water column, concurrent with profiles of the turbulent strength, optical properties, temperature, and conductivity.
Turbulence was characterized by the turbulent kinetic energy dissipation (TKED) and thermal dissipation (TD) rates,
which were obtained using both a Rockland Scientific Vertical Microstructure Profiler (VMP) and a Nortek Vector
velocimeter in combination with a PME CT sensor. While the two instrumental setups demonstrate reasonable
agreement, some irregularities highlight the spatial and temporal variability of the turbulence field. Supplementary
measurements with the Vector/CT in a controlled laboratory convective tank will shed additional light on the quantitative
relationship between image degradation and turbulence strength.
Optical signal transmission underwater is of vital interests to both civilian and military applications. The range and
signal to noise during the transmission, as a function of system and water optical properties determines the effectiveness
of EO technology. These applications include diver visibility, search and rescue, mine detection and identification, and
optical communications. The impact of optical turbulence on underwater imaging has been postulated and observed by
many researchers. However, no quantative studies have been done until recently, in terms of both the environmental
conditions, and impacts on image quality as a function of range and spatial frequencies. Image data collected from field
measurements during SOTEX (Skaneateles Optical Turbulence Exercise, July 22-31, 2010) using the Image
Measurement Assembly for Subsurface Turbulence (IMAST) are presented. Optical properties of the water column in
the field were measured using WETLab's ac-9 and Laser In Situ Scattering and Transmissometer (LISST, Sequoia
Scientific), in coordination with physical properties including CTD (Seabird), dissipation rate of kinetic energy and
heat, using both the Vector velocimeter and CT combo (Nortek and PME), and shear probe based Vertical
Microstructure Profiler (VMP, Rockland). The strong stratification structure in the water column provides great
opportunity to observe various dissipation strengths throughout the water column, which corresponds directly with
image quality as shown. Initial results demonstrate general agreement between data collected and model prediction,
while discrepancies between measurements and model suggest higher spatial and temporal observations are needed in
the future.
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