AUV underwater docking guide light signal extraction and identification method based on self-adaptive threshold image binaryzation

According to the AUV underwater docking guide light signal extraction and identification method based on adaptive threshold image binaryzation, guide lights can be extracted from guide images, and the numbers of the guide lights can be identified. The method comprises the following steps: by analyzing the characteristics of a guide image, proposing a self-adaptive threshold calculation method for binaryzation of the guide image; extracting the reflection images of R and G components of the guide image based on a Retinex algorithm, taking a mean value obtained after superposition of the reflection images and a B component as a new image, carrying out the adaptive threshold binarization processing, and extracting a guide lamp through morphological processing; formulating a guide lamp number identification rule based on the spatial position relation of the guide lamp, and recognizing the guide lamp number. The method can be applied to the field of AUV underwater docking guidance, and provides a sensing means for