水下平行双目成像测距关键技术研究  

A Study on the Key Technology of Underwater Parallel Binocular Imaging Ranging

作　　者：郑冬 刘向宇 李萍萍 李雨坤 马萱[1] ZHENG Dong;LIU Xiangyu;LI Pingping;LI Yukun;MA Xuan(Chongqing Electric Power College,Chongqing 400053,P.R.China;The 44th Research Institute of China Electronics Technology Group Corporation,Chongqing 400061,P.R.China)

机构地区：[1]重庆电力高等专科学校,重庆400053 [2]中国电子科技集团公司第四十四研究所,重庆400061

出　　处：《重庆电力高等专科学校学报》2023年第6期27-36,共10页Journal of Chongqing Electric Power College

基　　金：重庆市九龙坡区科技局科学研究项目(C-KY202304)。

摘　　要：针对水下平行双目视觉成像,对陆上与水下成像光路进行分析。同一物点在两介质中成像点位置存在差异,水下像距更大,陆上相机成像模型就不能直接运用于水下。分别对相机置于水体中和水体外,隔水玻璃厚度、相机焦点所处位置的情况进行分析,建立出对应的水下折射处理模型。在小视场中,对水下折射处理模型进行近似化,两介质成像点均满足线性对应关系。利用水下平行双目视觉测距实验进行验证,把水下图像进行折射处理、线性关系等效到焦距变化的误差分别为0.42%、3.77%,误差均在可接受的范围内。因此,利用折射处理算法,把水下图像等效为空气图像,在小视场中,把折射影响等效到有效焦距变化来处理水下平行双目视觉成像具有可行性。Aiming at underwater parallel binocular vision imaging,the land and underwater imaging optical paths are analyzed.There are differences in the imaging point positions of the same object point in two media,and the underwater image distance is larger,so the land camera imaging model can not be directly used under water.By analyzing the situation where the camera is placed in and outside the water body,the thickness of the waterproof glass and the position of the camera focus,a corresponding underwater refraction processing model is established.In a small field of view,the underwater refraction processing model is approximated and the imaging points of the two media satisfy the linear correspondence.The underwater parallel binocular vision distance measurement experiment is used to verify that the errors of refraction processing of underwater images and the equivalent linear relationship to the change of focal length are 0.42%and 3.77%respectively,and the errors are all within the acceptable range.Therefore,it is feasible to use the refraction processing method to equate the underwater image to an air image,and in a small field of view,it is feasible to process the underwater parallel binocular vision imaging by equating the refraction effect to the effective change of focal length.

关 键 词：双目视觉 折射处理 空气图像 小视场 等效焦距 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]