基于平行立体视觉技术的海底立体摄像系统研究

Study on the Seafloor 3D Camera System Based on Parallel 3D Vision Technology

计算机视觉经过几十年的发展,被广泛应用于社会各个领域,其核心是研究仿人类视觉从二维投影图像恢复三维景物世界的技术理论。尽管视觉计算理论数学方法上可行,但针对不同的应用需要,其数学算法实现上有所不同。结合应用于大洋海底资源勘查的"海底立体摄像系统"的研制,提出利用平行立体视觉理论实现从摄像图像重构三维海底微地形的技术方法。包括立体摄像机的研制要点、立体图像匹配、图像数据预处理、海底地形三维反演算法等,并对双目立体视觉技术的发展和应用提出了新的认识。

After decades of development, computer vision has been widely used in various fields, with its core of studying the imitation of human vision which reconstruct the 3D world from 2D projected images. Despite the fact that the computational theory of vision is feasible in mathematical method, the mathematical algorithm would differ in implementation for different application needs. This paper combines with the development of the＂Seafloor 3D Camera System＂ which is applied for ocean seabed resource exploration, and puts forward the method that uses the parallel 3D vision theory to achieve the reconstruction of 3D seabed micro-landform from camera images. It includes the key points of developing 3D camera, 3D image matching, image data preprocessing, and seabed landform 3D inversion algorithm. This paper presents a new viewpoint of the development and application of binocular 3D vision technology.