WANG Jun1, ZHU Zhan-xia1, JIA Guo-hua2, ZHANG Xu-yang2
1.College of Astronautics, Northwestern Polytechnical University, Xi'an Shaanxi 710072, China
2.Xi'an EvenFit Vision System Company Limited, Xi'an Shaanxi 710049, China
Abstract：Based on non-contact three-dimensional measuring principle of computer vision and light refraction principle, a new theoretical method of visual measurement in multi-medium was proposed. It used two teams of binocular cameras from different perspectives to observe space target in water, measured the various landmarks of the underwater target by making use of binocular stereo vision technology and the mathematical model of two light refractions, and then obtained the three-dimensional coordinates of landmarks, by plane fitting and coordinate transformation, eventually got six-dimensional position and attitude coordinates of underwater target. The results show that the method is suitable for multi-medium visual measurement with high accuracy and good stability.
2011, Vol. 31 
