An Underwater Target Ranging System based on Binocular Vision

Abstract

In order to accurately measure the distance and size information of underwater targets, an underwater target ranging and size measurement system based on binocular vision is proposed. Underwater binocular calibration method is used to obtain the underwater parameters of binocular camera, and the underwater images are calibrated to make them coplanar and aligned. The improved CLAHE algorithm is used to process underwater images and improve the image contrast. The parallax map is obtained by SGBM stereo matching algorithm, and the distance and size of the target are measured and calculated according to the parallax map. The results of underwater experiment show that the measurement accuracy of the system is high for the distance and size of the close-range underwater target, and the measurement error conforms to the requirements of underwater experiment.