A standard expression of underwater binocular vision for stereo matching
A standard expression of underwater binocular vision for stereo matching
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DOI：
10.1088/1361-6501/ab94fd
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发表时间：
2020-05
影响因子：
2.4
通讯作者：
Sufeng Zhuang;Xu Zhang;Dawei Tu;Can Zhang;Liangliang Xie
中科院分区：
文献类型：
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作者：
Sufeng Zhuang;Xu Zhang;Dawei Tu;Can Zhang;Liangliang Xie
水下立体视觉系统中的摄像机符合多层折射模型，透视投影摄像机模型是无效的。由于成像光发生折射，对应的像素点不符合传统的极坐标约束，立体匹配方法必须进行二维搜索。本文提出了一个标准的表达式，以减少搜索空间的一维。基于光场，将任何特定的水下双目立体视觉转换为标准设置，其中两个摄像机的轴线平行，图像表示为光场、方向信息图像和位置图像。我们发现并证明了方向信息图像符合对应行规则。利用该标准表达式，可以有效地进行立体匹配，并且可以从视差图和位置图像计算3D信息。在实验中，研制了水下双目立体视觉系统，并与传统方法进行了比较。结果表明，该方法具有简洁、准确、高效、通用等优点。
A camera in an underwater stereo vision system conforms to a multi-layer refraction model, and the perspective projection camera model is invalid. Because the imaging light is refracted, the corresponding pixel does not conform to the traditional polar constraint, and the stereo matching methods must conduct a two-dimensional search. In this paper, a standard expression is proposed to reduce the search space to one dimension. Based on a light field, any specific underwater binocular stereo vision is converted to a standard setup in which the axes of two cameras are parallel and the image is expressed as the light field, the direction information image and the position image. We found and proved that the direction information image conforms to the rule of corresponding rows. With this standard expression, the stereo matching is efficiently conducted and the 3D information can be computed from the disparity map and the position image. In the experiment, an underwater binocular stereo vision system is developed and the proposed method is compared with the traditional method. The results confirm that the proposed method has several advantages of conciseness, correctness, efficiency, and generality.