为提高核电站特殊作业环境下(高放射性，同时兼具水下、高温、高压、硼酸等)各智能装备的作业定位精度，本文建立了综合考虑折射效应和透镜畸变影响的水下双目视觉定位非线性数学模型。以摄像机针孔成像模型为基础，分析硼酸水下视觉的成像原理以及影响因素并提出了一种适用于非结构环境的水下双目视觉定位方法。为验证所提方法的有效性，本文在空气、普通水以及不同浓度硼酸水下进行对比实验。实验结果表明，不同浓度硼酸对摄像机成像折射影响不大，且利用该方法计算的目标物属性尺寸与实际值接近，误差小。

In order to improve the operating and locating accuracy of intelligent equipment under special working environment (high radioactivity, high temperature, high pressure, boric acid and so on) in nuclear power plant. The nonlinear mathematical model of underwater binocular vision is established, considering both refraction effect and lens distortion. To achieve this, it is analyzed that the imaging principle of the boric acid underwater vision as well as the influence factors and presented that a kind of underwater binocular vision positioning method to unstructured environment. In order to verify the method, the comparison experiments are done in the air, common water and different concentrations of boric acid water. The experimental results show that different concentration of boric acid has little influence on the camera imaging refraction, and target attribute dimension calculated is close to actual value.