摘要
针对水下视觉SLAM相机成像畸变问题,分析了水下机器人相机成像畸变原因,构建了纠正模型计算畸变系数以获取正确的像素坐标,实验证明在空气和水两种不同介质中,相机内参和畸变系数均有较大差异,而在不同水体中,仅畸变系数存在变化。表明在进行水下SLAM时,采用当前实验水体标定参数可以获取更好的定位和地图构建结果。
Aiming at solving the imaging distortion problem of underwater visual SLAM camera,the causes of imaging distortion of underwater robot camera are analyzed in this paper,and the correction model is used to calculate the distortion coefficient to obtain the correct pixel coordinates.The experiment proves that in the air and water,the camera internal reference and the distortion coefficients are quite different,and in different water bodies,only the distortion coefficient changes.It is shown that when performing underwater SLAM,the current experimental water body calibration parameters can be used to obtain better positioning and map construction results.
作者
张阳
欧阳犬平
李进军
冯俊俊
魏征
周立
ZHANG Yang;OUYANG Quan-ping;LI Jin-jun;FENG Jun-jun;WEI Zheng;ZHOU Li(College of Underwater Acoustic Engineering,Harbin Engineering University,Harbin 150001,Heilongjiang Province,China;School of Geomatics and Marine Information,Jiangsu Ocean University,Lianyungang 222005,Jiangsu Province,China)
出处
《海洋技术学报》
2019年第6期24-29,共6页
Journal of Ocean Technology
基金
国家重点研发计划“海洋环境安全保障”重点专项资助项目(2018YFC1405702)
海岸带地理环境监测国家测绘地理信息局重点实验室开放基金资助项目(BE2017125)
江苏省海洋技术品牌专业(PPZY2015B116)
江苏省高等教育教改研究立项课题(2017JSJG056)
