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Underwater camera marking method applied to underwater binocular stereoscopic vision

A binocular stereo vision and underwater camera technology, which is applied in image enhancement, image analysis, image data processing, etc., can solve the problems such as the thickness of the glass cover of the optical underwater camera, etc., and achieve improved calibration accuracy and strong scalability Effect

Inactive Publication Date: 2017-11-17
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0003] In order to overcome the deficiencies of the existing methods that do not take into account the refraction of light in water, the ordinate of the imaging point on the image plane, and the thickness of the glass cover of the underwater camera, the present invention proposes an underwater binocular stereo vision system. The camera calibration method converts the image in the water into an image in the air, and then uses the converted image for calibration

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  • Underwater camera marking method applied to underwater binocular stereoscopic vision
  • Underwater camera marking method applied to underwater binocular stereoscopic vision
  • Underwater camera marking method applied to underwater binocular stereoscopic vision

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0024] An underwater camera is generally composed of a CCD and a pressure-resistant sealed casing. A glass plate is used to seal and waterproof the front of the camera lens. The corresponding structure diagram is as follows: figure 1 shown. Where f is the focal length of the lens, and d is the distance from the focal point to the glass plate. Because the refractive indices of water, glass, and air are different, when the light reaches the glass plate, it will also be refracted so that the imaging light will have a sideways However, the thickness of the glass is generally different from the object distance, so the influence of the glass on the light can be ignored, and it is approximately considered that the refraction only occurs at the water-air interface, that is, only on...

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Abstract

The invention provides an underwater camera marking method applied to underwater binocular stereoscopic vision. The method includes the following steps: converting an image in water to an image in the air, then using the converted image to perform marking; analyzing and modeling underwater imaging points and air imaging points in case of the absence of water when focal points are at places where air and water parts, within water surface and outside the water surface so obtain the converting relation between the underwater imaging points and the air imaging points. The method herein, by converting the underwater image to the air image in the absence of water and then marking by using the air marking algorithm, can increase marking precision, conducts follow-up processing by continuing to use the air marking algorithm, and has strong expandability.

Description

technical field [0001] The invention belongs to the technical field of underwater binocular stereo vision, and in particular relates to an underwater camera calibration method applied to underwater binocular stereo vision. Background technique [0002] The ocean contains extremely rich oil and gas resources, biological resources, and space resources. In the process of ocean exploration and development, more requirements must be placed on the robustness, real-time performance, and applicability of detection technology. Visual detection has the advantages of high precision, fast speed, and wide application scenarios, and has gradually become an important technology for ocean detection. Underwater binocular stereo vision technology can be applied to dam gap detection and positioning, submarine pipeline inspection and underwater task execution. A complete binocular stereo vision system mainly consists of image acquisition, image preprocessing, camera calibration, image correctio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/13
CPCG06T7/13G06T7/85G06T2207/10012
Inventor 王惠刚
Owner NORTHWESTERN POLYTECHNICAL UNIV
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