Calibration method for underwater binocular vision measurement system

Abstract

The invention belongs to the technical field of underwater detection and measurement, aiming at solving the problem that the existing underwater binocular vision measurement system does not have generality and cannot be applied to the occasions with high precision, so that all underwater detection and measurement requirements can not be met. For this purpose, the invention provides a calibration method for an underwater binocular vision measurement system, which calibrates a binocular camera in air to obtain an internal parameter matrix and distortion parameters. The image of checkerboard gridis taken by binocular camera under water and distortion correction is carried out. Corner points of checkerboard grid are detected and position coordinates of corner points are measured by refractionrelation under water. According to the relative positional relationship between the corners of the checkerboard, the optimization objective is designed, and the calibration of the underwater binocular vision measurement system is completed by multi-objective optimization. The invention can improve the measurement accuracy of the underwater binocular vision measurement system, enable it to meet the requirements of the occasions with higher accuracy, improve the generality of the underwater binocular vision measurement system, and meet all underwater detection and measurement requirements.

Description

technical field [0001] The invention belongs to the technical field of underwater detection and measurement, and specifically provides a calibration method for an underwater binocular vision measurement system. Background technique [0002] As an important branch of marine detection technology, underwater detection based on underwater robots is being widely used. In the underwater detection and measurement using robot vision technology, since the vision system is mostly protected by a waterproof cabin, the light is refracted twice when it enters the camera, and the camera calibration technology in the air cannot be directly applied to the underwater camera calibration. [0003] Aiming at the impact of refraction on the camera imaging process, the solutions to this problem in the prior art can be roughly divided into five categories. The first category is physical methods, which counteract the refraction phenomenon by designing special optical components. The process require...

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Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing underwater binocular vision measurement system is not general and cannot be applied to occasions with high precision, and thus cannot meet all underwater detection and measurement requirements

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