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.

Key words: multi-medium, three-dimensional measurement, binocular vision

摘要： 基于计算机视觉的无接触三维测量原理和光的折射定律,提出一种多介质下空间目标视觉测量方法。采用多相机捆绑调整及多角度相互校正,通过双目立体视觉技术结合光线在多介质中发生两次折射的数学模型对运动体上各标志点进行测量,获取各标志点的三维空间坐标,经平面拟合、坐标转换,最终解算得到运动体六自由度空间坐标。实验结果表明,该方法适用于多介质视觉测量,具有较高的测量精度和良好的稳定性。

关键词: 多介质, 三维测量, 双目视觉