面向水下目标的双目视觉测距方法  

A distance measurement method based on binocular vision for underwater target

作　　者：杨戈[1,2] 王震尧 Yang Ge;Wang Zhenyao(Key Laboratory of Intelligent Multimedia Technology,Beijing Normal University,Zhuhai 519087,China;Research Center for Intelligent Engineering and Educational Application,Beijing Normal University,Zhuhai 519087,China)

机构地区：[1]北京师范大学珠海分校智能多媒体技术重点实验室,广东珠海519087 [2]北京师范大学智能工程与教育应用研究中心,广东珠海519087

出　　处：《电子技术应用》2022年第4期34-38,43,共6页Application of Electronic Technique

基　　金：广东高校省级重大科研项目(2019KZDXM015,2020ZDZX3058);广东省学科建设专项(2013WYXM0122);北京师范大学珠海分校科研项目(201762005);校级教学团队项目(202012);校级课程思政项目(201932);2020年广东省教改项目(655);2021年广东省质量工程项目(课程教研室104)。

摘　　要：针对水下机器人对于探测海洋具有的高灵敏度、低成本、易携带特点的要求,设计和实现面向水下目标的双目视觉测距检测方法。采用张正友标定算法,通过使用9×9棋盘获取水下双目相机的内外矩阵模型的参数,采用SGBM (Semi-Global Block Matching)立体匹配算法,增强了图像的对比度,削弱了图像色斑的影响,保证了算法的鲁棒性,提升了匹配搜索速度。将视差图通过矩阵运算转化成深度图,并将其映射成可视化点云,构建目标物体的三维立体信息。Based on the high sensitivity,low cost and easy portability of underwater robot for ocean detection,this paper studies the key binocular vision detection technology applied to the ranging of underwater target objects.Zhang Zhengyou′s calibration algorithm was adopted to obtain the parameters of the internal and external matrix model of the underwater binocular camera by using a 9×9 checkerboard,and SGBM stereo matching algorithm was adopted to enhance the image contrast and weaken the influence of image color spots.It ensures the robustness of the algorithm,improves the matching search speed,transforms the parallax map into depth map through matrix operation,and maps it into visual point cloud to construct the three-dimensional information of the target object.

关 键 词：水下双目视觉 立体匹配 深度信息 三维重建 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]