Distance Measurement of Underwater Target Based on Stereo Vision

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.