The invention discloses a vision and line
structured light fused
underwater three-dimensional measurement method. The method comprises the following steps: step 1, preprocessing an acquired image; 2,
system parameter calibration is carried out on the preprocessed in-air
color calibration image and the preprocessed in-air center
line structure light calibration image, and internal and external parameters of a camera and a
line structure light
plane equation are obtained; 3, establishing a three-dimensional
refraction model for the
underwater color three-dimensional measurement object image and the
underwater line structure light measurement object image, and performing affine transformation of the three-dimensional
refraction model; 4, performing
laser line center extraction on the transformed underwater line
structured light measurement object image, and substituting the
laser line center into the calibrated line
structured light plane equation to perform
point cloud reconstruction; and step 5, performing
color processing on the underwater color three-dimensional measurement object image, and mapping the image to three-dimensional
point cloud data. According to the invention, through affine transformation of the multi-medium
refraction image and
point cloud mapping of color multi-channel
equalization, the precision and visual effect of underwater three-dimensional measurement are significantly improved.