基于红通道先验的水下障碍物双目定位方法

doi:10.16180/j.cnki.issn1007-7820.2023.08.004

电子科技 ›› 2023, Vol. 36 ›› Issue (8): 19-28.doi: 10.16180/j.cnki.issn1007-7820.2023.08.004

基于红通道先验的水下障碍物双目定位方法

王宇海¹,张美燕²,蔡文郁¹,谢起楠¹

1.杭州电子科技大学电子信息学院,浙江杭州 310018
2.浙江水利水电学院电气工程学院,浙江杭州 310018

收稿日期:2021-11-29 出版日期:2023-08-15 发布日期:2023-08-14
作者简介:王宇海(1997-),男,硕士研究生。研究方向:电子系统集成。|张美燕(1983-),女,副教授。研究方向:无线传感网络、新型能源技术、物联网技术。|蔡文郁(1979-),男,教授,博士生导师。研究方向:物联网、无线传感网络及嵌入式技术。
基金资助:
国家自然科学基金(61871163);浙江省自然科学基金(ZJWY22E092191);浙江省自然科学基金(Z22F015836);浙江省属高校基本科研业务费专项资金(GK209907299001-001)

Binocular Vision Localization Method of Underwater Obstacles Based on Red Channel Prior

WANG Yuhai¹,ZHANG Meiyan²,CAI Wenyu¹,XIE Qinan¹

1. School of Electronic and Information,Hangzhou Dianzi University,Hangzhou 310018,China
2. School of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018,China

Received:2021-11-29 Online:2023-08-15 Published:2023-08-14
Supported by:
National Natural Science Foundation of China(61871163);Natural Science Foundation of Zhejiang(ZJWY22E092191);Natural Science Foundation of Zhejiang(Z22F015836);Special Funds for Basic Scientific Research Business Expenses of Zhejiang Universities(GK209907299001-001)

摘要/Abstract

摘要：

基于双目视觉的自主水下航行器在水下巡航过程中,由于水体对光线的衰减效应和悬浮颗粒对光线的散射作用,双目摄像机获取的图像存在对比度低、颜色失真等问题,导致水下障碍物定位的精度较低。针对以上问题,文中采用红通道先验复原算法提高水下成像质量,根据双目相机标定参数获取障碍物的双目视差图,并提出了一种基于深度视差图融合的水下障碍物定位方法。该方法通过融合深度视差图与水下复原轮廓图,对融合图像进行凸多边形检测,获取障碍物的轮廓,基于轮廓信息进行障碍物的有效深度信息提取,实现障碍物的空间定位。水下双目定位实验结果表明,文中所提方法可以使双目立体匹配的效果更理想,能够有效提高水下障碍物定位的精度。

关键词: 立体视觉, 双目相机标定, 水下成像模型, 红通道先验, 立体匹配, 图像融合, 轮廓识别, 双目测距定位

Abstract:

During the underwater cruise of the autonomous underwater vehicle based on binocular vision, the images acquired by the binocular camera have low contrast and color distortion due to the attenuation effect of the water and the scattering effect of the suspended particles on the light, which leads to the low accuracy of underwater obstacle localization. In view of the above problems, this study adopts the red channel prior restoration algorithm to improve the quality of underwater imaging, obtains the binocular disparity map of obstacles according to the calibration parameters of the binocular camera, and proposes an underwater obstacle localization method based on depth disparity map fusion. The proposed method fuses the depth disparity map and the underwater restoration contour map, performs convex polygon detection on the fused image, obtains the contour of the obstacle, and extracts the effective depth information of the obstacle based on the contour information to realize the spatial positioning of the obstacle. The experimental results of underwater binocular localization show that the method can make the binocular stereo matching more ideal and effectively improve the accuracy of underwater obstacle localization.

Key words: stereo vision, binocular camera calibration, underwater imaging model, red channel prior, stereo matching, image fusion, contour recognition, binocular ranging and positioning

中图分类号:

TN401

王宇海,张美燕,蔡文郁,谢起楠. 基于红通道先验的水下障碍物双目定位方法[J]. 电子科技, 2023, 36(8): 19-28.

WANG Yuhai,ZHANG Meiyan,CAI Wenyu,XIE Qinan. Binocular Vision Localization Method of Underwater Obstacles Based on Red Channel Prior[J]. Electronic Science and Technology, 2023, 36(8): 19-28.

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名称	参数值	名称	参数值
感光芯片	索尼IMX219	分辨率	1 280×720
帧率	30 frame·s^-1	基线长度	60 mm

基于红通道先验的水下障碍物双目定位方法

Binocular Vision Localization Method of Underwater Obstacles Based on Red Channel Prior

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