Method and device for determining underwater object point coordinates

Abstract

The invention provides a method and a device for determining coordinates of an underwater object point, and relates to the field of two-medium photography. In the method for determining the coordinates of the underwater object point provided by the invention, firstly, reference coordinate information of a target object point is determined according to the single-medium imaging principle, then, a plurality of measuring points near the target object point are selected as reference points according to the reference coordinate information of the target object point, and consequently, a plane is established by the plurality of reference points. Since the distance between the reference points and the target object point is short enough, the plane of the reference points can be considered as a plane of the target object point, so that an angle of incidence of shooting light for shooting images can be calculated according to a normal vector of the plane, namely, an angle of incidence of light can be obtained, and finally, the three-dimensional coordinates of the target object point are calculated according to the angle of incidence of light. During the calculation process, the plane of the reference points is added, so that the real angle of incidence of the shooting light can be obtained, and consequently, accuracy of calculation of the three-dimensional coordinates of the target object point is guaranteed.

Description

technical field [0001] The invention relates to the field of dual-medium photography, in particular to a method and device for determining coordinates of an underwater object point. Background technique [0002] Aerial photography, also known as aerial photography, refers to the technology of using aerial cameras to take pictures of ground scenes on airplanes or other aviation vehicles. Classified according to the tilt angle of the photo (the tilt angle of the photo is the angle between the main optical axis of the aerial camera and the ground vertical line (main vertical line) passing through the center of the lens), the photography method can be divided into vertical photography and oblique photography. [0003] From the perspective of photographic media, aerial photography is mainly divided into two categories, one is single-media photography for shooting scenery on the ground, and the other is dual-media photography for shooting scenery in water. [0004] Dual-medium ph...

AI Technical Summary

Problems solved by technology

Remote sensing inversion bathymetry technology has certain advantages in large-area data acquisition, but the remote sensing inversion model requires the participation of measured water depth data, and the parameters and models required in different regions are different, and most of the reef data in the open sea cannot obtain the measured water depth. data, making it difficult to apply

[0014] In related technologies, the formulas for the three-dimensional coordinates of underwater object points have been deduced according to the imaging mechanism of underwater object points (the formulas include calculating the coordinate values ​​of underwater object points in the X, Y, and Z directions respectively). A very important parameter in the three-dimensional coordinate formula of a point is the angle of incidence (the angle between the incident light and the normal of the incident surface). The three-dimensional coordinate formula of an underwater object point in the related art regards the sea surface as a static plane, while the actual On the surface, the sea level always has waves rolling, so the related technology considers the sea level to be static, and then takes the incident angle as a constant into the three-dimensional coordinate formula of the underwater object point, and the calculated result is not accurate enough

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