光学学报, 2019, 39 (9): 0912004, 网络出版: 2019-09-09   

非平行双目视觉系统水下标定与测量 下载: 1182次

Underwater Calibration and Measurement Based on Non-Parallel Stereovision
作者单位
中国海洋大学工程学院, 山东 青岛 266100
摘要
针对用非平行双目视觉系统进行水下拍摄测量时,由于折射所导致的测量误差较大、精度不高的问题,建立了基于折射光路的水下双目视觉系统测量模型,并以Agrawal方法为基础,在已知两摄像机相对位置关系的前提下,对该测量模型参数标定的方法进行了改进。为验证改进的Agrawal方法的可靠性,与Agrawal方法进行水下标定对比实验。结果表明,相较于Agrawal标定算法得到的防水罩法向量这一模型参数,提出的改进算法的结果与真实值更为接近。在此基础上,应用标定后的水下双目视觉系统测量模型对水下靶标标定点间的标准距离进行测量,测量误差平均值为-0.0134 mm,最大误差为0.2073 mm,与空气中双目视觉系统测量精度相当。
Abstract
Aim

ing at the large measurement error and low accuracy problems caused by refraction when conducting underwater measurement based on non-parallel stereovision system, a measurement model of underwater stereovision system is built via refraction light path. Given the relative position relationship between two cameras, a parameter calibration method which is suitable for the measurement model is improved based on Agrawal's algorithm. To verify the feasibility and robustness of the improved method, the underwater calibration experiments are carried out. Experimental results show that, for the parameter of normal vector of waterproof cover, the results of the improved method are closer to the actual results than that of Agrawal's algorithm. The measurement model of underwater stereovision system calibrated in this paper is applied to measure the standard length between the calibration points on the underwater target. The average measurement error is -0.0134 mm, and the maximum error is 0.2073 mm, which is equivalent to the measurement accuracy of stereovision system in air.

解则晓, 余江姝, 迟书凯, 李俊朋, 李美慧. 非平行双目视觉系统水下标定与测量[J]. 光学学报, 2019, 39(9): 0912004. Zexiao Xie, Jiangshu Yu, Shukai Chi, Junpeng Li, Meihui Li. Underwater Calibration and Measurement Based on Non-Parallel Stereovision[J]. Acta Optica Sinica, 2019, 39(9): 0912004.

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