Underwater Stereo Matching Technology Based On Binocular Stereo Vision

With the rapid development of marine development,people's exploration of the marine environment is becoming more and more profound.Binocular stereo vision is a very good way to explore the underwater environment.However,due to the complex underwater environment,the camera's refraction problems occur when shooting underwater,resulting in distortion of the image and the effect of the underwater environment on the absorption,scattering and attenuation of light.Underwater images often have problems with quality degradation,such as blur And color distortion.This has a great obstacle to the underwater operation mission system.For the application of underwater stereo vision,this article mainly completes the following work:(1)The calibration method of the camera is studied,the geometric model is established for the imaging process of the underwater camera,and the imaging difference between the camera and the underwater is analyzed.According to the transformation relationship of the camera's image formation in air and water,the camera was calibrated in air and water to verify the calibration results.A method of calibrating the camera in the air and then using it underwater is proposed to solve the problem of inconvenient and inaccurate calibration of the camera underwater.(2)The problem of underwater image degradation is studied.In view of the problem of underwater image quality degradation,the current image enhancement and image restoration algorithms are introduced.The transmission characteristics of light in water and the underwater imaging model are analyzed.An underwater image restoration algorithm based on dark channels.This algorithm studies the estimation of ambient light and transmission based on the principle of underwater imaging.Finally,an underwater experiment was used to verify the effectiveness of this method in underwater image restoration and a comparative experiment was conducted.(3)Study the principle of underwater stereo matching,and conduct underwater binocular stereo matching experiment,collect underwater images according to the binocular camera calibrated in the air,and then pre-process according to the underwater image clearing processing technology we studied Processing,detailed research on the application of stereo matching technology in underwater.Then use the semi-global stereo matching technology to realize the stereo matching function,and obtain the disparity map according to the stereo matching technology to realize the measurement of the depth of the underwater image.