On-site calibration of underwater stereo vision based on light field
On-site calibration of underwater stereo vision based on light field
复制标题
基于光场的水下立体视觉现场标定
DOI：
10.1016/j.optlaseng.2019.04.019
复制
发表时间：
2019-10-01
影响因子：
4.6
通讯作者：
Jin, Pan
中科院分区：
文献类型：
--
作者：
Zhang, Can;Zhang, Xu;Jin, Pan
在水下立体视觉标定中，水的折射率随深度、温度和盐度的变化而变化，两台摄像机之间的位置关系随设备在水中的变形而变化，因此这两个参数需要根据场景进行标定。本文提出了一种水下立体视觉的现场标定方法，以适应水中折射率的变化和两台相机之间的相对位置。从光场的角度出发，提出了一种基于共面约束的水下折射率初始值确定方法。在获得初始值后，构造最优目标函数对整个水下立体视觉系统进行优化，可以减小由于设备变形导致的两台摄像机之间相对位置变化所带来的误差。该方法操作简单，只需在被测水域取一次校准板即可完成校准。
In underwater stereo vision calibration, the refractive index of water varies with the depth, temperature and salinity, and the position relationship between the two cameras varies with the deformation of the equipment in the water, so these two parameters need to be calibrated according to the scene. In this paper, an on-site calibration of underwater stereo vision is proposed to adapt to the changes of refractive index of water and the relative position between the two cameras. A method based on coplanar constraint in view of light field is proposed to determine the initial value of the underwater refractive index. After obtaining the initial value, an optimal objective function is constructed to optimize the whole underwater stereo vision system, which can reduce the error caused by the change of relative position between two cameras due to deformation of the device. The proposed method is easy to operate and the calibration can be completed by taking a calibration plate only once in the measured water area.