本文为美国佛罗里达州理工学院（作者：Aubrey Lee Kozak）的硕士论文，共104页。

本文设计了一套探测金属并记录潜水员探查路径的系统。构建了一种金属探测电路，并对其进行进一步的开发，使之适合于水下应用。采用数字摄像机同步记录水底视图，这些视频图像通过金属探测器采集输出。数字视频记录了相关路径，随后使用Nero Vision Express 2.0.0.22捕获，然后使用ACDSee 6.0将其分解成帧。

图像处理采用了两种程序：德雷克塞尔大学的图像拼接程序和菲尔托瑞的视线流程序。图像使用经过的时间与存储的金属探测器读数相关联，并在Microsoft Excel中显示金属检测结果和金属视觉图像。利用图像处理的帧和金属探测读数，潜水员可以得到一张详细特征和探测金属位置的地图。潜水员也可以利用这张地图在他/她离开的地方开始新的调查。

本文详细介绍了开发该系统所涉及的过程以及测试结果，包括潜水员路径的拼接图片、光流、存储的金属探测器读数以及相应的金属检测图片。测试过程包括在水池设置一个虚拟的底面，用金属探测器和摄像头进行测量时进行录像，然后将这些图像与金属探测器的读数关联起来并绘制图表。对视频中的各帧进行拼接，并显示其光流。这为潜水员提供了一个带有定量数据的定性地图。

A system has been designed to detect metal and record a diver’s surveypath. A metal detector circuit was constructed and further development preparedit for underwater use. A digital video camera was used to record the view ofthe bottom synchronously with the collection of the metal detector output. Digitalvideo recorded the path and was subsequently captured using Nero Vision Express2.0.0.22. It was then broken into frames using ACDSee 6.0. Two programs wereused for image processing: Drexel University’s program to mosaic the frames andPhil Torr’s program to find the optical flow. Images were correlated with thestored metal detector readings using elapsed time and graphed in MicrosoftExcel to show the detection of metal and the visual image of the metal. Usingthe image processed frames and the metal detection readings the diver can thenhave a map with detailed features and location of the metal detected. This mapcan also be used by the diver to start a new survey where he/she left off. Detailsof the processes involved in developing this system are presented as well as theresults from testing including mosaic pictures of the diver’s path, opticalflow, and stored metal detector readings along with the corresponding picturesof metal detected. The testing involved placing a false bottom on a pool tovideo as the metal detector and camera surveyed. The images were thencorrelated with the metal detector readings and graphed. The individual framesfrom the video were mosaiced and their optical flow was shown. This gives aqualitative map with quantitative data to the diver.

1 引言

2 考古流程与仪器

3 水下导航

4 探测过程

5 图像处理

6 结果

7 结论

附录A 金属探测器源码

附录B 金属探测器硬件原理图和布板

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