Distance Measurement of Underwater Target Based on Stereo Vision

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	Distance Measurement of Underwater Target Based on Stereo Vision
	Li WT(李文涛); Lin S(林森); Tang YD(唐延东); Cong Y(丛杨)
	2017
会议名称	7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
会议日期	July 31 - August 4, 2017
会议地点	Hawaii, USA
关键词	stereo vision Remote Operated Vehicle distance measurement underwater interaction
页码	97-102
通讯作者	Lin S(林森)
中文摘要	An underwater object location method based on binocular stereo vision and artificial auxiliary interaction is proposed. Firstly, the calibration principle and basic model of binocular stereo vision are given, and the relationship between binocular disparity and depth is deduced in detail. Then, a special underwater camera (Nano SeaCam) is used, and we can calibrate the camera directly underwater. After that, the parameters of the camera are obtained to rectify the underwater images. Further, according to the characteristics of underwater ROV (Remote Operated Vehicle), we use the method of artificial interaction to select the corresponding pixels of left and right view images, and then use the distance measurement algorithm to calculate the target distance. The experimental results show that this method can achieve the proper effect of measuring distance underwater, and the accuracy can meet the practical requirements, which is feasible and efficient.
产权排序	1
会议录	7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-0489-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21347]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.School of Electronic and Information Engineering, Liaoning Technical University, Huludao, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Li WT,Lin S,Tang YD,et al. Distance Measurement of Underwater Target Based on Stereo Vision[C]. 见:7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017). Hawaii, USA. July 31 - August 4, 2017.