Binocular Underwater Measurement With Multicolor Structured Light

doi:10.1109/JOE.2023.3315397

CORC > 自动化研究所 > 中国科学院自动化研究所 > 中科院工业视觉智能装备工程实验室

	Binocular Underwater Measurement With Multicolor Structured Light
	Li, Shuaishuai 1; Gao, Xiang 2; Xie, Zexiao 1
刊名	IEEE JOURNAL OF OCEANIC ENGINEERING
	2023-12-04
页码	18
关键词	Multicolor light segmentation multicolor structured light rapid underwater measurement underwater 3-D reconstruction underwater binocular matching
ISSN号	0364-9059
DOI	10.1109/JOE.2023.3315397
通讯作者	Xie, Zexiao(xiezexiao@ouc.edu.cn)
英文摘要	This article designs an underwater binocular measurement system combining binocular vision and multicolor structured light, for the problem of autonomous grasping by underwater robots. In our solution, multiple colored stripes of structured light are projected on the surface of the object to be measured at once without the scanning process and, thus, have the advantages of high measurement accuracy, efficiency, stability, and reliability, which could realize the survey and positioning of underwater targets and guide the robotic arm to grasp the underwater targets autonomously. In this article, an underwater binocular measurement model with nonparallel and non-co-refractive surfaces is established by tracing the propagation path of light in water, and a multicolor structured light array is used to provide active visual features for the underwater object to be measured by projecting the multicolor structured light array, avoiding the limitation of the center point of monochromatic structured light, and the object could be at any position in the binocular field of view. Then, the laser strip images were separated from the background and segmented by the HSV double-threshold segmentation method; the color light stripes segmented from the left and right images were matched corresponding to their color information and position information. Finally, the feature points required for measurement are extracted from the laser stripe images taken by the left and right cameras to achieve a fast underwater survey, and through analyzing the experimental data and observing the object 3-D reconstruction effect, the effectiveness and accuracy of the underwater binocular measurement model and the underwater binocular matching algorithm established in this article are proved.
资助项目	National Natural Science Foundation of China
WOS关键词	3D RECONSTRUCTION ; STEREO VISION ; CAMERA ; CALIBRATION
WOS研究方向	Engineering ; Oceanography
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001121672400001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55021]
专题	中科院工业视觉智能装备工程实验室
通讯作者	Xie, Zexiao
作者单位	1.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Shuaishuai,Gao, Xiang,Xie, Zexiao. Binocular Underwater Measurement With Multicolor Structured Light[J]. IEEE JOURNAL OF OCEANIC ENGINEERING,2023:18.
APA	Li, Shuaishuai,Gao, Xiang,&Xie, Zexiao.(2023).Binocular Underwater Measurement With Multicolor Structured Light.IEEE JOURNAL OF OCEANIC ENGINEERING,18.
MLA	Li, Shuaishuai,et al."Binocular Underwater Measurement With Multicolor Structured Light".IEEE JOURNAL OF OCEANIC ENGINEERING (2023):18.