Binocular vision image compensation method used when UUV rocks vertically and horizontally

Abstract

The invention discloses a binocular vision image compensation method used when a UUV rocks vertically and horizontally. The method can be used for compensating the position and posture deviations, caused by the longitudinal and horizontal rocking of the UUV, of an underwater operation target in a binocular camera. The method comprises the steps of acquiring the information of a left camera body and a right camera body in real time to obtain the original images of the underwater operation target, acquiring the compass information of the UUV in real time to obtain the heeling angle and trimming angle of the UUV generated when the UUV rocks longitudinally and horizontally, compensating the deviations, generated due to the longitudinal and horizontal rocking of the UUV, of the visual images of the underwater operation target in the binocular camera, and conducting radioactive conversion on the original images of the underwater operation target to achieve the compensation of the visual images, in the left camera body and the right camera body, of the underwater operation target when the UUV rocks longitudinally and horizontally. According to the method, the position and posture of the underwater operation target can be measured more accurately by the binocular camera, image compensation accuracy is high, real-time performance is good, the accuracy of underwater target positioning conducted by the UUV is improved, and the success rate of autonomous work of the UUV is increased.

Description

technical field [0001] The invention belongs to a UUV visual image compensation method, in particular to a binocular visual image compensation method during UUV pitch and roll, which can compensate the position and attitude deviation of an underwater operation target in a binocular camera caused by the UUV pitch and roll. Background technique [0002] When an unmanned underwater vehicle (UUV) approaches the seabed to perform underwater autonomous operations such as oil pipeline survey and optical cable maintenance, underwater binocular cameras are used to find and locate underwater operation targets. Due to the influence of currents, waves and other factors, the UUV produces pitch and roll, which makes the underwater operation target's pose and depth of field deviation in the binocular camera visual image, which will reduce the success rate of UUV underwater autonomous operations. The deviation of the visual image of the underwater operation target in the binocular camera ca...

AI Technical Summary

Problems solved by technology

This method solves the positioning problem of the underwater docking target when the UUV has pitch and roll, but this method is aimed at the monocular camera, without considering the matching of the binocular camera, and this method is the ultimate solution for the underwater docking target when the UUV is pitch and roll. The positioning information is compensated, and the image itself is not corrected

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