Abstract：
Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle distance measurement system based on semantic segmentation and binocular vision is proposed. The system uses Deeplabv3 + to identify the underwater target captured by the binocular camera and generate the target map, which is then used for binocular ranging. Compared with the binocular ranging using the original drawing, the measurement accuracy of the proposed method has not changed, the measurement speed is increased by 30%, and the error rate is controlled within 5%, which meets the needs of underwater robot operations.
摘要：
基于光折射原理和双目测距,得到水下成像模型。为水下摄像机标定提供了理论依据。为了满足水下航行器对水下目标进行识别和测距的要求,提出了一种基于语义分割和双目视觉的水下机器人测距系统。该系统使用Deeplabv3+对双目相机捕获的水下目标进行识别并生成目标地图,然后用于双目测距。与使用原始图纸的双目测距相比，所提出的方法的测量精度没有改变，测量速度提高了30%，错误率控制在5%以内,满足水下机器人作业的需要。
