摘要： 针对水下机器人对于探测海洋具有的高灵敏度、低成本、易携带特点的要求，设计和实现面向水下目标的双目视觉测距检测方法。采用张正友标定算法，通过使用9×9棋盘获取水下双目相机的内外矩阵模型的参数，采用SGBM(Semi-Global Block Matching)立体匹配算法，增强了图像的对比度，削弱了图像色斑的影响，保证了算法的鲁棒性，提升了匹配搜索速度。将视差图通过矩阵运算转化成深度图，并将其映射成可视化点云，构建目标物体的三维立体信息。

中图分类号： TP391.41
文献标识码： A
DOI：10.16157/j.issn.0258-7998.211747
中文引用格式： 杨戈，王震尧. 面向水下目标的双目视觉测距方法[J].电子技术应用，2022，48(4)：34-38，43.
英文引用格式： Yang Ge，Wang Zhenyao. A distance measurement method based on binocular vision for underwater target[J]. Application of Electronic Technique，2022，48(4)：34-38，43.

A distance measurement method based on binocular vision for underwater target

Abstract： Based on the high sensitivity, low cost and easy portability of underwater robot for ocean detection, this paper studies the key binocular vision detection technology applied to the ranging of underwater target objects. Zhang Zhengyou′s calibration algorithm was adopted to obtain the parameters of the internal and external matrix model of the underwater binocular camera by using a 9×9 checkerboard, and SGBM stereo matching algorithm was adopted to enhance the image contrast and weaken the influence of image color spots. It ensures the robustness of the algorithm, improves the matching search speed, transforms the parallax map into depth map through matrix operation, and maps it into visual point cloud to construct the three-dimensional information of the target object.

Key words : underwater binocular vision；stereo matching；depth information；3D reconstruction