Underwater environment three-dimensional reconstruction method based on binocular vision

Abstract

The invention provides an underwater environment three-dimensional reconstruction method based on binocular vision, and the method comprises the following steps: 1, collecting and obtaining an underwater image, carrying out the underwater calibration of a binocular camera, and obtaining the needed related parameters of the binocular camera; 2, preprocessing the collected underwater image, including image denoising, image enhancement, image sharpening, image restoration and underwater image defogging; 3, performing feature detection on the preprocessed binocular image in the step 2, and performing stereo matching by using an improved Census and NCC fused stereo matching algorithm to obtain a disparity map containing depth information; and 4, performing three-dimensional reconstruction on the disparity map in the step 3 by using a PCL three-dimensional reconstruction method introducing a moving least square method, and restoring an underwater three-dimensional environment in the image. The invention introduces the moving least square method to solve the problems of point cloud discretization and point cloud vulnerability, thus visually reflecting a three-dimensional effect by a processing effect from multiple angles, and restoring the underwater three-dimensional environment.

Description

technical field [0001] The invention relates to an image three-dimensional reconstruction method, in particular to a binocular vision-based underwater environment three-dimensional reconstruction method, which belongs to the field of three-dimensional reconstruction of underwater environment and computer vision. Background technique [0002] After years of development, computer vision has matured and is currently used in underwater environments. Underwater robots equipped with computer vision functions can play an important role in various underwater tasks such as the detection and maintenance of submarine pipelines, the execution of marine search and rescue tasks, and the detection of submarine environments. In some submarine topography surveys and seabed resource development work, it is necessary to obtain more intuitive 3D information. Therefore, it is particularly important to reconstruct the underwater environment using 3D reconstruction technology based on binocular vi...

AI Technical Summary

Problems solved by technology

At present, the 3D reconstruction of the underwater environment is mainly based on the theory and algorithm of 3D reconstruction on land, trying to improve the underwater image quality by making up for the lack of underwater light, introducing high distortion coefficients, and changing the focal length compensation, etc., and achieved good experimental results. , but there are certain errors in the actual operation, and the desired effect has not been achieved.

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