摘要
对OutLand1000型水下遥控机器人所配的水下相机进行了标定试验,获得了相机的内参数。针对水下环境对相机模型的影响,建立了水下相机的非线性畸变模型并对陆地单目视觉定位方法作了非线性修正。三种定位算法的试验结果表明,改进后的视觉定位方法不同程度地提高了水下定位精度。
Calibration experiments were carried out on OutLand1000 ROV and the intrinsic parameters were presented herein. For the underwater camera model, the distortion coefficients of radial and tangential were considered and the improved underwater localization algorithm was presented. A series of experiments were performed, and the localization accuracy is improved from the results showed in the paper.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2010年第11期1288-1292,共5页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2006AA09Z203)
