On-site calibration of underwater stereo vision based on light field

摘要

In underwater stereo vision calibration, the refractive index of water varies with the depth, temperature and salinity, and the position relationship between the two cameras varies with the deformation of the equipment in the water, so these two parameters need to be calibrated according to the scene. In this paper, an on-site calibration of underwater stereo vision is proposed to adapt to the changes of refractive index of water and the relative position between the two cameras. A method based on coplanar constraint in view of light field is proposed to determine the initial value of the underwater refractive index. After obtaining the initial value, an optimal objective function is constructed to optimize the whole underwater stereo vision system, which can reduce the error caused by the change of relative position between two cameras due to deformation of the device. The proposed method is easy to operate and the calibration can be completed by taking a calibration plate only once in the measured water area.