蛙人目标声散射特性研究综述

葛丽丽; 黎洁; 刘妍; 范军

doi:10.11993/j.issn.2096-3920.2026-0062

蛙人目标声散射特性研究综述

doi: 10.11993/j.issn.2096-3920.2026-0062

葛丽丽^{1, 2,},
黎洁^{1, 2,},
刘妍³,
范军^{1, 2, 3}

1.
上海交通大学海洋智能装备与系统教育部实验室, 上海, 200240
2.
上海交通大学船舶海洋与建筑工程学院, 上海, 200240
3.
哈尔滨工程大学水声工程学院, 黑龙江哈尔滨, 150001

基金项目: 教育部基础学科和交叉学科突破计划(JYB2025XDXM805).

详细信息

作者简介:
葛丽丽(1997-), 女, 博士, 主要研究方向为水下小目标声散射

通讯作者:
黎　洁, 女, 副研究员, 主要研究方向为海洋环境噪声声学反演、小目标回波特性及水声信号处理.

中图分类号: TJ630; O427.2
计量
- 文章访问数: 19
- HTML全文浏览量: 10
- PDF下载量: 5
- 被引次数: 0
出版历程
- 收稿日期: 2026-03-30
- 修回日期: 2026-04-27
- 录用日期: 2026-04-29
- 网络出版日期: 2026-06-08

A Review of the Acoustic Scattering Characteristics of Diver Targets

GE Lili^{1, 2
,},
LI Jie^{1, 2
,},
LIU Yan³,
FAN Jun^{1, 2, 3}

1.
Key Laboratory of Marine Intelligent Equipment and System, Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China
2.
School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
3.
College of Underwater Acoustics Engineering, Harbin Engineering University, Harbin 150001, China

摘要

摘要: 蛙人是浅水环境中典型的低可探测性水下小目标, 具有目标强度(TS)低、姿态敏感性强、多部件耦合显著和非平稳性突出等特点。人体、潜水服、呼吸装置、脚蹼及呼吸气泡等部件在几何尺度、材料属性和运动方式上的差异, 使其回波呈现多源散射与时变调制特征; 而浅水多径、混响和环境噪声等因素, 进一步增大了其探测与识别难度。针对主动声呐背景, 围绕目标在声散射建模、试验及其在跟踪定位、探测识别中的研究, 梳理气瓶、呼吸气泡、肺部、潜水服和脚蹼等关键部件对总体声散射特性的影响规律, 分析现有研究存在的主要问题, 并对后续发展方向进行讨论, 以期为蛙人目标主动声呐探测与识别研究提供参考。
- 蛙人目标 /
- 主动声呐 /
- 声散射特性 /
- 浅水探测 /
- 目标识别 /
Abstract: Diver targets are typical low-observable small underwater targets in shallow-water environments. They are characterized by low target strength (TS), strong sensitivity to posture, significant coupling among multiple components, and pronounced non-stationary behavior. Variations in geometric scale, material properties, and motion patterns among the human body, diving suit, breathing apparatus, fins, and exhaled bubbles make the echo response exhibit multi-source scattering and time-varying modulation. Meanwhile, shallow-water multipath propagation, reverberation, and ambient noise further increase the difficulty of target detection and recognition. Focusing on active sonar applications, this paper reviews recent research progress on diver-target echo characteristics, including echo modeling, experimental studies, tracking and localization, and detection and recognition. The effects of key components, such as scuba cylinders, exhaled bubbles, lungs, diving suits, and fins, on the overall echo characteristics are systematically summarized. The main problems in existing studies are analyzed, and possible directions for future research are discussed. This review is expected to provide a useful reference for active-sonar-based detection and recognition of diver targets.
- diver target /
- active sonar /
- scattering modeling /
- target strength /
- tracking and localization /
- detection and recognition

HTML全文

图 1 干衣闭式蛙人回波强度预报

Figure 1. Echo intensity prediction of closed diver in dry clothes

下载: 全尺寸图片幻灯片

图 2 4种巡航速度下2 s时刻的速度标量云图

Figure 2. Velocity scalar nephogram at 2 s under four cruising speeds

下载: 全尺寸图片幻灯片

图 3 蛙人试验及投影示意图

Figure 3. Diver test and projection schematic diagram

下载: 全尺寸图片幻灯片

图 4 蛙人游动的时间-距离谱及时频谱

Figure 4. Time–range spectrum and time–frequency spectrogram of a swimming diver

下载: 全尺寸图片幻灯片

图 5 4类蛙人TS随距离变化关系

Figure 5. Range dependence of TS for four types of diver

下载: 全尺寸图片幻灯片

图 7 MIMO成像

Figure 7. MIMO imaging

下载: 全尺寸图片幻灯片

图 6 蛙人声呐图像及处理流程

Figure 6. Sonar image of diver and selected images of sonar image process

下载: 全尺寸图片幻灯片

图 8 蛙人特征识别结果

Figure 8. Frogman feature recognition results

下载: 全尺寸图片幻灯片

参考文献(77)

[1]	孙玉臣, 王德石, 李宗吉, 等. 蛙人探测声呐系统发展综述[J]. 水下无人系统学报, 2021, 29(5): 509-523. doi: 10.11993/j.issn.2096-3920.2021.05.002 Sun Y C, Wang D S, Li Z J, et al. Review on development of diver detection sonar system[J]. Journal of Unmanned Underwater Systems, 2021, 29(5): 509-523. doi: 10.11993/j.issn.2096-3920.2021.05.002
[2]	黄颖淞, 葛辉良, 王付印, 等. 蛙人探测声呐系统发展综述[J]. 水下无人系统学报, 2020, 28(1): 1-9. doi: 10.11993/j.issn.2096-3920.2021.05.002 Huang Y S, Ge H L, Wang F Y, et al. Review on the development of diver detection sonar system[J]. Journal of Unmanned Underwater Systems, 2020, 28(1): 1-9. doi: 10.11993/j.issn.2096-3920.2021.05.002
[3]	孙玉臣, 陈维义, 王平波, 等. 蛙人水下声信号特征研究综述[J]. 声学技术, 2022, 41(4): 479-488. Sun Y C, Chen W Y, Wang P B, et al. Review of research on the characteristics of underwater acoustic signal of frogman[J]. Technical Acoustics, 2022, 41(4): 479-488.
[4]	Fish J F, Johnson C S, Ljungblad D K. Sonar target discrimination by instrumented human divers[J]. The Journal of the Acoustical Society of America, 1976, 59(3): 602-606. doi: 10.1121/1.380905
[5]	Sarangapani S, Miller J H, Potty G R, et al. Measurements and modeling of the target strength of divers[C]//Europe Oceans 2005. IEEE, 2005, 2: 952-956.
[6]	张杨梅, 冯西安. 气泡群目标强度的起伏统计模型[J]. 计算机仿真, 2015, 32(9): 14-18,38. Zhang Y M, Feng X A. Statistical model of target strength model of bubble cloud[J]. Computer Simulation, 2015, 32(9): 14-18,38.
[7]	张杨梅. 水下小目标主动探测关键技术研究[D]. 西北工业大学, 2017.
[8]	赵亚聪, 刘雄厚, 杨益新. 极浅水环境中水体深度对水底混响强度的影响分析[J]. 声学学报, 2025, 50(4): 933-945. Zhao Y C, Liu X H, Yang Y X. Influence of waveguide depth on bottom reverberation strength in very shallow water environments[J]. Acta Acustica, 2025, 50(4): 933-945.
[9]	Miller J H, Potty G R, Sarangapani S. Acoustic detection and monitoring for transportation infrastructure security[EB/OL]. (2009-09-01)[2026-03-30]. https://rosap.ntl.bts.gov/view/dot/17764
[10]	Kozaczka E, Grelowska G, Kozaczka S, et al. Diver observations by means of acoustic methods[J]. Acta Physica Polonica A, 2013, 123(6): 1098-1100. doi: 10.12693/aphyspola.123.1098
[11]	张波, 刘文章. 蛙人回波建模与实验研究[J]. 应用声学, 2010, 29(4): 313-320. doi: 10.3969/j.issn.1000-310X.2010.04.013 Zhang B, Liu W Z. Modeling and experimental study of echo from a diver[J]. Journal of Applied Acoustics, 2010, 29(4): 313-320. doi: 10.3969/j.issn.1000-310X.2010.04.013
[12]	王琦, 范军, 王斌. 闭式蛙人目标强度预报及试验[J]. 声学技术, 2022, 41(2): 173-179. Wang Q, Fun J, Wang B. Target strength of closed frogman: measurements and modelling[J]. Technical Acoustics, 2022, 41(2): 173-179.
[13]	张培珍, 林芳. 开式呼吸蛙人专用氧气瓶声散射特性[J]. 上海交通大学学报, 2022, 56(6): 764-771. doi: 10.16183/j.cnki.jsjtu.2021.078 Zhang P Z, Lin F. Sound scattering characteristics of oxygen cylinder for open breathing diver[J]. Journal of Shanghai Jiaotong University, 2022, 56(6): 764-771. doi: 10.16183/j.cnki.jsjtu.2021.078
[14]	Zhang Y M, Feng X A. Scattering properties and echo modeling of diver's lung[C]//Proceedings of 2014 11th International Bhurban Conference on Applied Sciences & Technology(IBCAST). 2014. IEEE, 2014: 386-389.
[15]	张波, 马忠成. 蛙人目标强度的水下测量[C]//中国声学学会2009年青年学术会议[CYCA’09]论文集, 2009: 313-314.
[16]	Yang T, Tong Y, Fan X. Simulation study on acoustic scattering characteristics of a SCUBA diver[C]//2021 OES China Ocean Acoustics(COA). IEEE, 2021: 91-94.
[17]	徐瑜, 倪小清, 夏红梅, 等. 蛙人探测声呐发展现状及关键技术[J]. 舰船电子工程, 2017, 37(3): 1-3,126. doi: 10.3969/j.issn.1672-9730.2017.03.001 Xu Y, Ni X Q, Xia H M, et al. Current status of diver detection sonar and key technologies[J]. Ship Electronic Engineering, 2017, 37(3): 1-3,126. doi: 10.3969/j.issn.1672-9730.2017.03.001
[18]	Ge L, Li J, Liu Y, et al. Offshore experimental investigation of echo characteristics in divers using drysuit/wetsuit and open-circuit/closed-circuit breathing systems[J]. Applied Acoustics, 2026, 243: 111143. doi: 10.1016/j.apacoust.2025.111143
[19]	Houston B H, Carin L. Harbor threat detection, classification, and identification[EB/OL]. (2007-09-30)[2026-03-30]. Naval Research Laboratory. https://apps.dtic.mil/sti/pdfs/ADA541163
[20]	Zhang Y, Feng X. Target strength calculation of bubble cloud generated by diver based on dimension distribution[C]//2013 IEEE International Conference of IEEE Region 10(TENCON 2013). IEEE, 2013: 1-4.
[21]	Kouzoubov A. Monte Carlo model of acoustic response from a bubble cloud[C]//Proceedings of ACOUSTICS 2017 Perth: Sound, Science and Society - 2017 Annual Conference of the Australian Acoustical Society, AAS 2017. Thailand, 2017. Accession Number: edselc. 2-52.0-85041342505
[22]	张波, 马忠成, 刘文章. 海豚声散射特性的理论建模及实验研究[J]. 应用声学, 2010, 29(2): 122-128. Zhang B, Ma Z C, Liu W Z. Theoretical and experimental studies of the scattering characteristic of dolphin[J]. Journal of Applied Acoustics, 2010, 29(2): 122-128.
[23]	Valenko D, Mezgec Z, Pec M, et al. Dynamic model of scuba diver buoyancy[J]. Ocean Engineering, 2016, 117: 188-198. doi: 10.1016/j.oceaneng.2016.03.041
[24]	Nakashima M, Tanno Y, Fujimoto T, et al. Development of a simulation model for swimming with diving fins[C]//Proceedings. MDPI, 2018, 2(6): 288.
[25]	Li H, Han F, Zhu H, et al. Hydrodynamic model of diver–DPV coupled multi-body and its underwater cruising numerical simulation[J]. Journal of Marine Science and Engineering, 2021, 9(2): 140. doi: 10.3390/jmse9020140
[26]	聂东虎, 乔钢, 朱知萌, 等. 水下蛙人主被动探测实验研究[J]. 声学技术, 2015, 34(4): 300-305. doi: 10.16300/j.cnki.1000-3630.2015.04.002 Nie D H, Qiao G, Zhu Z M, et al. Experimental research of passive and active detection for underwater diver[J]. Technical Acoustics, 2015, 34(4): 300-305. doi: 10.16300/j.cnki.1000-3630.2015.04.002
[27]	Sun Z, Zhang J, Qiao G, et al. Experimental study on target characters of divers[C]//2013 OCEANS-San Diego. IEEE, 2013: 1-5.
[28]	姜卫, 范军, 胡碰. 声呐频段内动物体肺部组织目标强度的水下测量[C]//2007年全国水声学学术会议论文集, 2007: 50-52.
[29]	Hollett R D, Kessel R T, Pinto M. At-sea measurements of diver target strengths at 100 KHz: Measurement technique and first results[EB/OL]. (2007-07-27)[2026-03-30]. NATO Undersea Research Centre. https://www.researchgate.net/publication/235093769
[30]	Pailhas Y, Houssineau J, Petillot Y R, et al. Tracking with MIMO sonar systems: Applications to harbour surveillance[J]. IET Radar, Sonar & Navigation, 2017, 11(4): 629-639.
[31]	宋宏健, 许枫, 杨娟, 等. 水下蛙人被动探测测向实验研究[J]. 应用声学, 2016, 35(6): 547-552. doi: 10.11684/j.issn.1000-310X.2016.06.011 Song H J, Xu Feng, Yang J, et al. The passive direction finding experimental research for underwater swimmers[J]. Journal of Applied Acoustics, 2016, 35(6): 547-552. doi: 10.11684/j.issn.1000-310X.2016.06.011
[32]	DeMarco K J, West M E, Howard A M. Sonar-based detection and tracking of a diver for underwater human-robot interaction scenarios[C]//2013 IEEE International Conference on Systems, Man, and Cybernetics. IEEE, 2013: 2378-2383.
[33]	Colin M, Beerens S P, Ainsli M A. Optimum sonar frequency for diver detection in harbours[C]//International Conference on Detection and Classification of Underwater Targets. Heriot-Watt University Edinburgh, 2007: 200-220.
[34]	Zhuravlev V A, Mazanikov A A, Neronov A N. The use of wideband signals in the acoustic monitoring of hydrobionts[J]. Acoustical Physics, 2004, 50(3): 318-322. doi: 10.1134/1.1739500
[35]	Acker T. Biosonics underwater acoustic sentinel (UWACS) system for intruder detection[C]//OCEANS 2009. IEEE, 2009: 1-4.
[36]	Younghouse S. Practical high-frequency sonar for intruder detection in very shallow environments[C]//Proceedings 40th Annual 2006 International Carnahan Conference on Security Technology. IEEE, 2006: 21-25.
[37]	张伟豪, 许枫. 基于扰动声场的水下入侵目标检测方法[J]. 哈尔滨工程大学学报, 2009, 30(9): 975-979. Zhang W H, Zu F. A method for detecting underwater intruders based on disturbed sound field[J]. Journal of Harbin Engineering University, 2009, 30(9): 975-979.
[38]	李轲, 刘忠, 毛盾. 基于反蛙人声呐的小目标检测算法[J]. 舰船电子工程, 2010, 30(7): 173-176. Li K, Liu Z, Mao D. Algorithm for detection of small target in sonar image based on anti-diver sonar[J]. Ship Electronic Engineering, 2010, 30(7): 173-176.
[39]	Zhu J, Yu S, Gao L, et al. Saliency‐based diver target detection and localization method[J]. Mathematical Problems in Engineering, 2020, 2020(1): 3186834.
[40]	毛盾, 刘忠, 程远国. 基于蛙人探测声呐序列图像的水下小目标检测算法[J]. 传感技术学报, 2011, 24(7): 1027-1032. Mao D, Liu Z, Cheng Y G. Underwater small target detection algorithm based on diver detection sonar image sequences[J]. Chinese Journal of Sensors and Actuators, 2011, 24(7): 1027-1032.
[41]	陈允锋, 潘谢帆. 一种应用于慢速小目标探测的图像干扰抑制技术[C]//中国声学学会水声学分会2015年学术会议论文集, 2015: 41-42.
[42]	Fan J, Liu X, Yao X, et al. High-definition sonar imaging using two-dimensional low-complexity adaptive processing[J]. IEEE Transactions on Instrumentation and Measurement, 2025, 74: 4513418 doi: 10.1109/tim.2025.3604926
[43]	Fan J, Liu X, Yao X, et al. High-quality MIMO sonar imaging using cross-correlation suppression[J]. IEEE Geoscience and Remote Sensing Letters, 2025.
[44]	Liu X, Shi R, Sun C, et al. Using deconvolution to suppress range sidelobes for MIMO sonar imaging[J]. Applied Acoustics, 2022, 186: 108491. doi: 10.1016/j.apacoust.2021.108491
[45]	Delyon G. Clutter map detector for active diver detection sonar[J]. IET Radar, Sonar & Navigation, 2020, 14(1): 177-186.
[46]	Diamant R, Kipnis D, Bigal E, et al. An active acoustic track-before-detect approach for finding underwater mobile targets[J]. IEEE Journal of Selected Topics in Signal Processing, 2019, 13(1): 104-119. doi: 10.1109/JSTSP.2019.2899237
[47]	Yue W, Xu F, Xiao X, et al. Track-before-detect algorithm for underwater diver based on knowledge-aided particle filter[J]. Sensors, 2022, 22(24): 9649. doi: 10.3390/s22249649
[48]	Claussen T, Nguyen V D, Heute U, et al. A real-time cognitive-sonar system for diver detection[C]//OCEANS 2015-MTS/IEEE Washington. IEEE, 2015: 1-9.
[49]	Brekke E, Hallingstad O, Glattetre J. The signal-to-noise ratio of human divers[C]//OCEANS'10 IEEE SYDNEY. IEEE, 2010: 1-10.
[50]	Xin K L, Zheng X X. Underwater small target tracking algorithm based on diver detection sonar image sequences[C]//2012 International Conference on Industrial Control and Electronics Engineering. IEEE, 2012: 727-730.
[51]	李晖宙, 刘正红, 毛盾. 基于蛙人探测声呐序列图像的水下小目标跟踪算法[J]. 舰船电子工程, 2018, 38(2): 26-30,34. Li H Z, Liu Z H, Mao D. Underwater small target tracking algorithm based on diver detection sonar image sequences[J]. Ship Electronic Engineering, 2018, 38(2): 26-30,34.
[52]	Rødningsby A, Bar-Shalom Y. Tracking of divers in a noisy background using a bubble model[C]//Signal and Data Processing of Small Targets 2007. SPIE, 2007, 6699: 67-78.
[53]	Diamant R, Francesco R, Zorzi M. A graph localization approach to assist a diver-in-distress[C]//2017 14th Workshop on Positioning, Navigation and Communications (WPNC). IEEE, 2017: 1-6.
[54]	Diamant R, Francescon R. A graph localization approach for underwater sensor networks to assist a diver in distress[J]. Sensors, 2021, 21(4): 1306. doi: 10.3390/s21041306
[55]	Remmas W, Chemori A, Kruusmaa M. Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusion[J]. Journal of Field Robotics, 2021, 38(3): 494-508. doi: 10.1002/rob.21999
[56]	Villa M P, Graça P A, Ferreira B M, et al. Real-time geo-referenced acoustic tracking for underwater diver localization with event detection[C]//OCEANS 2024-Halifax. IEEE, 2024: 1-8.
[57]	张纯, 许枫. 基于运动特征的水下蛙人目标识别方法[C]//中国声学学会水声学分会2011年全国水声学学术会议论文集, 2011: 180-182.
[58]	李轲, 刘忠, 毛盾. 基于形态特征的水下小目标识别方法[J]. 舰船科学技术, 2012, 34(1): 91-94. Li K, Liu Z, Mao D. Algorithm for recognition of underwater small target based on shape characteristic[J]. Ship Science and Technology, 2012, 34(1): 91-94.
[59]	Li K, Li C L, Zhang W. Research of diver sonar image recognition based on support vector machine[J]. Advanced Materials Research, 2013, 785: 1437-1440. doi: 10.4028/www.scientific.net/amr.785-786.1437
[60]	Juan Y, Feng X, Zhi H W, et al. Adaptive multi-feature fusion for underwater diver classification[C]//2013 IEEE/OES Acoustics in Underwater Geosciences Symposium. IEEE, 2013: 1-4.
[61]	王佳维, 许枫, 杨娟. 联合稀疏表示在水下目标分类中的应用[J]. 声学学报, 2022, 47(4): 471-480. Wang J W, Xu F, Yang J. Application of joint sparse representation in underwater target classification[J]. Acta Acustica, 2022, 47(4): 471-480.
[62]	王佳维, 许枫, 杨娟. 基于核空间联合稀疏表示和指数平滑的多基地水下小目标识别[J]. 电子学报, 2024, 52(1): 217-231. Wang J W, Xu F, Yang J. Multi-static underwater small target recognition based on kerneljoint sparse representation and exponential smoothing[J]. Acta Electronica Sinica, 2024, 52(1): 217-231.
[63]	刘雄厚, 时荣伟, 杨益新. 利用跟踪轨迹特征和SVDD-SVM联合分类器的水下慢速小目标分类方法[J]. 声学学报, 2023, 48(4): 646-655. Liu X H, Shi R W, Yang Y X. Underwater slowly-moving small target classification method using tracking trajectory features and SVDD-SVM classifier[J]. Acta Acustica, 2023, 48(4): 646-655.
[64]	赖凯, 刘雄厚, 杨益新. 利用支持向量数据描述和递归特征消除的水下慢速小目标轨迹特征选择方法[J]. 声学学报, 2025, 50(2): 475-485. doi: 10.12395/0371-0025.2024377 Lai K, Liu X H, Yang Y X. Underwater low-speed small target trajectory feature selection using support vectordata description and recursive feature elimination[J]. Acta Acustica, 2025, 50(2): 475-485. doi: 10.12395/0371-0025.2024377
[65]	Buß M, Benen S, Stiller D, et al. Feature selection and classification for false alarm reduction on active diver detection sonar data[C]//Proceedings of the Underwater Acoustics Conference & Exhibition(UACE). 2017: 569-576.
[66]	Sharma N S, Yakubovskiy A M, Zimmerman M J. SCUBA diver detection and classification in active and passive sonars—a unified approach[C]//2013 IEEE International Conference on Technologies for Homeland Security(HST). IEEE, 2013: 189-194.
[67]	Xu Y, Guo M, Guo X, et al. Extraction of diver bubble cloud feature using time-frequency spectrogram and radon transform[C]//2024 OES China Ocean Acoustics (COA). IEEE, 2024: 1-5.
[68]	Lai K, Liu X, Yang Y, et al. On joint active-passive recognition of underwater low-speed small targets using target strength and source level[C]//2023 6th International Conference on Information Communication and Signal Processing(ICICSP). IEEE, 2023: 1086-1090.
[69]	Kvasić I, Mišković N, Vukić Z. Convolutional neural network architectures for sonar-based diver detection and tracking[C]//OCEANS 2019-Marseille. IEEE, 2019: 1-6.
[70]	Nguyen H T, Lee E H, Lee S. Study on the classification performance of underwater sonar image classification based on convolutional neural networks for detecting a submerged human body[J]. Sensors, 2019, 20(1): 94. doi: 10.3390/s20010094
[71]	Hu S, Liu T. Underwater rescue target detection based on acoustic images[J]. Sensors, 2024, 24(6): 1780. doi: 10.3390/s24061780
[72]	柳天祥, 邓红超. 基于高阶时隙与残差网络的水下小目标多域融合识别方法[J]. 声学技术, 2026, 46: 1-10. doi: 10.16300/j.cnki.1000-3630.24120503 Liu T X, Deng H C. Multi-domain fusion recognition underwater slow-moving small target recognition based on continuous high-order time lacunarity and residual network[J]. Technical Acoustics, 2026, 46: 1-10. doi: 10.16300/j.cnki.1000-3630.24120503
[73]	Islam M J, Fulton M, Sattar J. Toward a generic diver-following algorithm: Balancing robustness and efficiency in deep visual detection[J]. IEEE Robotics and Automation Letters, 2018, 4(1): 113-120. doi: 10.1109/lra.2018.2882856
[74]	Islam M J, Ho M, Sattar J. Understanding human motion and gestures for underwater human–robot collaboration[J]. Journal of Field Robotics, 2019, 36(5): 851-873. doi: 10.1002/rob.21837
[75]	Wang K, Yang Y, Wei Q, et al. An underwater 6-DoF position and orientation estimation method for divers based on the VideoPose5CH model[J]. Sensors, 2026, 26(4): 1335. doi: 10.3390/s26041335
[76]	Chavez A G, Mueller C A, Birk A, et al. Stereo-vision based diver pose estimation using LSTM recurrent neural networks for AUV navigation guidance[C]//OCEANS 2017-Aberdeen. IEEE, 2017: 1-7.
[77]	Chou H M, Chou Y C, Chen H H. Development of a monocular vision deep learning-based AUV diver-following control system[C]//Global Oceans 2020: Singapore–US Gulf Coast. IEEE, 2020: 1-4.