中国激光, 2020, 47 (5): 0504004, 网络出版: 2020-05-12
基于线结构光的水下双目测量方法 下载: 1518次
Underwater Binocular Measurement Method Based on Line-Structured Light
测量 水下双目视觉 线结构光 光路折射模型 匹配 水下测量 measurement underwater binocular vision line-structured light refraction model of optical path matching underwater measurement
摘要
针对水下环境中因光线折射、水体浑浊等产生的物体特征点难以提取的问题,设计了一种利用线结构光阵列提供视觉特征的水下双目测量系统,通过提取光条中心获得大量特征点。推导建立水下双目光路折射模型,并提出一种改进的外极线匹配方法,用于获得特征点三维坐标,实现了水下物体的测量和三维形貌还原。实验结果表明,所提方法对水下物体的测量精度与陆上相当,测量误差在0.3 mm以内,满足测量精度要求。系统测量过程快速准确,适用于水下实时定位测量。
Abstract
It is difficult to extract feature points in the underwater environment owing to light refraction and water turbidity. To solve this problem, an underwater binocular measurement system that detects visual features using a line-structured light array is designed in this study. A large number of feature points are obtained by extracting the center of light strip. The refraction model of the underwater binocular's optical path is established, and an improved epipolar matching method is proposed to obtain the three-dimensional coordinates of feature points to realize the measurement and the restoration of three-dimensional morphology of underwater objects. The experimental results show that the measurement accuracy of the proposed method for underwater objects is comparable to that for land, and the measurement error is within 0.3 mm, which meets the measurement accuracy requirements. The measurement process of the proposed system is fast and accurate, and it is suitable for underwater real-time positioning measurement.
解则晓, 李俊朋, 迟书凯. 基于线结构光的水下双目测量方法[J]. 中国激光, 2020, 47(5): 0504004. Zexiao Xie, Junpeng Li, Shukai Chi. Underwater Binocular Measurement Method Based on Line-Structured Light[J]. Chinese Journal of Lasers, 2020, 47(5): 0504004.