Underwater stereo vision system spherical refraction correction method, electronic equipment

Abstract

The invention belongs to the technical field of computer vision, and specifically relates to an underwater stereo vision system spherical refraction correction method and electronic equipment, aiming at solving the problem of inaccurate underwater vision measurement in the prior art. The method includes using the stereo vision system to be calibrated The system collects standard checkerboard images underwater; obtains spherical refraction parameters based on the collected underwater checkerboard images combined with the refraction parameter calibration algorithm; selects targets from the images collected by the underwater stereo vision system, and obtains the coordinates of the targets on the left and right imaging planes; Based on the coordinates of the target on the left and right imaging planes and spherical refraction parameters, the spatial position coordinates of the target in the left camera coordinate system are obtained by solving the spherical refraction model of the backlight path; the present invention aims at the spherical refraction correction problem in the underwater binocular stereo vision system, through Build the spherical refraction model of the backlight path, combine the optimization algorithm to solve the refraction parameters, and realize the accurate measurement task of underwater vision.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to an underwater stereo vision system spherical refraction correction method and electronic equipment. Background technique [0002] In recent years, underwater vision systems have been widely used in the fields of underwater mapping, navigation and monitoring. Compared with other underwater sensors such as sonar and structured light, vision sensors have many advantages such as small size, low energy consumption, and rich information collection. By being equipped with an underwater vision system, underwater operating equipment such as underwater vehicles can effectively improve their environmental perception and operating capabilities. However, the underwater vision system is usually adversely affected by the scattering and refraction of light, and the refraction of light on the window surface of the waterproof cabin will seriously affect the measurement accurac...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above problems, that is, in order to solve the problem of inaccurate underwater visual measurement in the prior art, the present invention provides an underwater stereoscopic vision system spherical refraction correction method and electronic equipment

Images