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A Calibration Method for Underwater Stereo Vision System

A technology of stereo vision and calibration method is applied in the calibration field of underwater stereo vision system, which can solve the problems of inability to perform underwater stereo vision calibration, wrong and complicated calibration methods, and low calibration accuracy, and achieves high description accuracy and high calibration efficiency. , Improve the effect of calibration accuracy

Active Publication Date: 2021-07-23
HUST WUXI RES INST
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the influence of refraction on the deviation of different pixels is different, and using the traditional camera model will produce obvious errors, especially in an environment with a high refractive index such as underwater
Traditional underwater camera calibration generally has the problems of complex calibration methods, long calibration time, low calibration accuracy, and inability to perform underwater stereo vision calibration.

Method used

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  • A Calibration Method for Underwater Stereo Vision System
  • A Calibration Method for Underwater Stereo Vision System
  • A Calibration Method for Underwater Stereo Vision System

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Embodiment Construction

[0047]In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and / or" includes any and all combinations of one or more of the associated l...

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Abstract

The invention discloses a method for calibrating an underwater stereo vision system, comprising the following steps: S101. In an underwater environment, use a stereo vision system composed of cameras with known internal parameters to capture images of several plane calibration plates, and extract the images and perform distortion correction on the feature points; S102, construct a cost function according to the geometric relationship of the refraction light path, arbitrarily select a camera in the stereo vision system and calibrate the refraction parameters of the camera; S103, according to the completed calibration The refraction parameters of the camera are calibrated based on the above cost function to calibrate the refraction parameters of the uncalibrated camera in the stereo vision system and the external parameters of the stereo vision system. The invention uses a plane calibration plate, which improves the calibration accuracy; based on the multi-layer refraction model, there is no systematic error, and the description accuracy is high, which can not only be used for the refraction parameter calibration of an underwater single camera, but also can be used for underwater stereo vision systems and other systems. Calibration of refractive parameters and extrinsic parameters for underwater multi-camera systems.

Description

technical field [0001] The invention relates to the technical field of underwater camera calibration, in particular to a calibration method for an underwater stereo vision system. Background technique [0002] In the underwater environment, the imaging light will pass through the three layers of refraction media: water, filter, and air. Existing methods often apply the traditional camera model to this refraction system, and use radial distortion coefficients to correct the deviation caused by refraction. However, the influence of refraction on the deviation of different pixels is different, and using the traditional camera model will produce obvious errors, especially in an environment with a high refractive index such as underwater. Traditional underwater camera calibration generally has the problems of complicated calibration methods, long calibration time, low calibration accuracy, and inability to perform underwater stereo vision calibration. Contents of the invention...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 朱禹轲张旭朱利民
Owner HUST WUXI RES INST
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