| 基于双目视觉的水下定位系统 |
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| 引用本文： | 陈元杰,朱康武,葛耀峥,顾临怡.基于双目视觉的水下定位系统[J].机电工程,2011,28(5):567-573. |
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| 作者姓名： | 陈元杰 朱康武 葛耀峥 顾临怡 |
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| 作者单位： | 浙江大学流体与传动国家重点实验室,浙江,杭州,310027 |
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| 摘 要： | 通过改进传统水上双目立体视觉定位方法使其适于水下机器人(ROV)的机械手等的定位.为适应复杂水下透视环境,针对水下的液体环境设计摄像机密封结构,引入了高次畸变参数对摄像机进行标定,以得到相机水下内外参数,然后针对传统较为复杂的双目摄像机视线(射线)相交求取目标点的方法,提出了一种基于前向平行校正的简单定位算法,并进行试...
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| 关 键 词： | 水下机器人 水下标定 双目视觉 定位 前向平行校正 |
Binocular vision based locating system for underwater inspection |
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| CHEN Yuan-jie,ZHU Kang-wu,GE Yao-zheng,GU Lin-yi.Binocular vision based locating system for underwater inspection[J].Mechanical & Electrical Engineering Magazine,2011,28(5):567-573. |
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| Authors: | CHEN Yuan-jie ZHU Kang-wu GE Yao-zheng GU Lin-yi |
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| Affiliation: | (State Key Lab of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China) |
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| Abstract: | A new binocular stereo vision locating system was designed for the guidance of the manipulator on a remotely operated vehicle（ROV）.In order to adapt the complex underwater environment,a sealing structure for the camera,a method of underwater calibration and a new method of object locating based on front parallel plane transformation were designed.Experiment results show the accuracy and stability of the underwater locating system,the locating error of which can be kept within 3%. |
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| Keywords: | remotely operated vehicle（ROV） underwater calibration binocular stereo vision locating front parallel plane transformation |
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