Acousto-optic fusion underwater target recognition device and method

The invention discloses an underwater target identification device and method based on acousto-optic fusion, and belongs to the field of underwater target detection and identification, and the method comprises the steps: determining the initial position of a target through a sonar image, enabling a binocular camera to move according to the initial position of the target, enabling the camera to be located at the optimal position for obtaining the target image as much as possible, and obtaining a visual image. Meanwhile, a visual image is obtained through the binocular camera, a structured light image is obtained through the binocular camera and the structured light device, dense point cloud is obtained by fusing the visual image and the structured light image, and then visualization of the target position is completed. As the structured light is used for obtaining the clearer visual image, the adverse effect of the underwater light environment on the image is directly avoided, meanwhile, the clear image can ac