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

Abstract

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

CLC Number:

TN401

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

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

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