Submarine cable real model establishment method based on three-dimensional real-time sonar data

The invention discloses a submarine cable real model establishment method based on three-dimensional real-time sonar data, and the method comprises the following steps: dividing three-dimensional sonar point cloud data into a plurality of voxels, and calculating the coordinates of a sphere center point of an inscribed sphere of three-dimensional submarine cable data in each voxel and a corresponding normal vector; connecting sphere center points of inscribed balls in all voxels in a mode of constructing a minimum spanning tree; constructing a vertex of the submarine cable model according to the sphere center point of each internally tangent sphere and a given real submarine cable radius; and establishing a three-dimensional submarine cable model according to the circular vertex coordinates. According to the submarine cable real model building method based on the three-dimensional real-time sonar data, an accurate and real three-dimensional submarine cable structure model can be restored from disordered point