Binocular vision-based underwater ranging methods

In order to assist the underwater robot working in the underwater environment, underwater ranging method is researched based on the binocular vision. Precise calibration of the binocular vision is the most important. In this paper, a novel underwater binocular vision calibration method for both monocular camera and binocular camera. Then through experiments, the internal and external parameters are obtained. And according to the distortion in the underwater binocular image, the image is rectified and the matching method are conducted, and thus the parallax image is got. Finally, the distance ranging is done and the experiment show the better measure precision.