【摘要】 针对深海探测与取样设备的实际应用需求,研究了一种基于图像视觉处理的水下测距技术与系统。系统利用围成等边三角形的蓝绿激光发射器作为光源投射到海底平面,摄像机对投射图像进行采集;利用张正友标定法获取摄像机参数,根据海底平面的倾斜状况构建了理想成像模型和实际成像模型两种数学计算模型,对图像进行灰度处理、阈值处理和形态学处理后计算出摄像机平面与海底平面之间的距离。最后,对搭建的水下测距系统进行了实验室测试,测试结果验证了系统在水下短距离测距应用中的可行性。更多还原

【Abstract】 According to practical requirements of deep sea exploration and sampling equipments,this paper studies an underwater ranging technology based on image vision processing of laser projection image. Three blue-green laser emitters forming an equilateral triangle are used as the light source,and we use camera to acquire the projection image on the bottom plane. In this paper,the Zhang Zhengyou calibration method is used to estimate camera’s parameters. Moreover,two kinds of mathematical models which are named as ideal imaging model and actual imaging model are proposed to calculate the distance between camera plane and the bottom plane of the sea according to the inclination of the ocean floor. Gray-scale image processing,threshold processing and morphology processing are carried on the laser projection image before image ranging. Finally,this paper carried out lab tests on the proposed underwater ranging system,and the results verify the feasibility of the application of this system in underwater short distance environment.更多还原