一种融合偏振信息的水下双目相机标定方法及系统
By constructing an active polarization heterogeneous binocular system and a nonlinear optimization algorithm, the stability and accuracy problems of underwater stereo vision calibration in turbid waters were solved, achieving high-precision in-situ calibration of underwater binocular cameras, which is suitable for real harsh marine environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- OCEANOGRAPHIC INSTR RES INST SHANDONG ACAD OF SCI
- Filing Date
- 2026-05-12
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional underwater stereo vision calibration methods are difficult to meet the requirements of stability and accuracy in turbid water. Conventional methods are prone to parameter drift under real marine conditions. Existing polarization defogging methods fail in low light or extremely turbid environments and lack system-level fusion design.
A heterogeneous binocular system was constructed by combining active polarization illumination with an orthogonal polarization difference denoising mathematical model. Parallel and orthogonal polarized images were obtained by rotating the second linear polarizer of the left eye camera. A nonlinear optimization algorithm was used to eliminate refraction and mechanical installation errors, and a polarization-grayscale dual-modal joint reprojection error optimization model was constructed.
It significantly improves the robustness and accuracy of feature extraction in turbid water, eliminates nonlinear refraction and mechanical installation errors, achieves high-precision in-situ calibration, and is adaptable to high-robust calibration under harsh water conditions.
Smart Images
Figure CN122176069B_ABST