中圖分類號： TP391.41 文獻(xiàn)標(biāo)識碼： A DOI：10.16157/j.issn.0258-7998.211747 中文引用格式： 楊戈,，王震堯. 面向水下目標(biāo)的雙目視覺測距方法[J].電子技術(shù)應(yīng)用,，2022，48(4)：34-38,，43. 英文引用格式： Yang Ge,，Wang Zhenyao. A distance measurement method based on binocular vision for underwater target[J]. Application of Electronic Technique，2022,，48(4)：34-38,，43.
A distance measurement method based on binocular vision for underwater target
Yang Ge1，2,，Wang Zhenyao1
1.Key Laboratory of Intelligent Multimedia Technology,，Beijing Normal University，Zhuhai 519087,，China； 2.Research Center for Intelligent Engineering and Educational Application,，Beijing Normal University,，Zhuhai 519087，China
Abstract： 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.
Key words : underwater binocular vision,；stereo matching,；depth information；3D reconstruction
