Research and Experiment of an Underwater Stereo Vision System

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Research and Experiment of an Underwater Stereo Vision System
	Wang C(王聪)1,2,3 ; Zhang QF(张奇峰)2,3 ; Lin S(林森)2,3; Li WT(李文涛)2,3 ; Wang XH(王晓辉)2,3 ; Bai YF(白云飞)1,2,3; Tian QY(田启岩)2,3
	2019
会议日期	June 17-20, 2019
会议地点	Marseille, France
关键词	Underwater vision Stereo vision underwater camera calibration 3D reconstruction
页码	1-5
英文摘要	Underwater computer vision is a challenging task due to the severe underwater condition. The underwater optical system can provide more detailed information than the acoustic system. This paper describes a new stereo vision system for underwater object detection and 3D reconstruction. The Stereolabs ZED 2K Stereo Camera and NVIDIA Jetson TX2 are the core components of the system. A USB3.0 optical cable can transmit the high-definition video at the maximum speed of 5.0 GB/s within a distance of 300 meters. All software modules are developed based on ROS (Robot Operating System) middleware. The underwater camera calibration has been carried out to correct the underwater distortion of stereo vision, and underwater 3D reconstruction experiments have proven the validity of the system.
产权排序	1
会议录	OCEANS 2019 Marseille
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-1450-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26047]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Wang C(王聪); Zhang QF(张奇峰)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Wang C,Zhang QF,Lin S,et al. Research and Experiment of an Underwater Stereo Vision System[C]. 见:. Marseille, France. June 17-20, 2019.