导　　师： 郑冰

学科专业： 0810

授予学位： 硕士

作　　者： ;

机构地区： 中国海洋大学

摘　　要： 我们国家海域辽阔,海洋物种繁多,海底地貌复杂多样,油气资源丰富,开发和利用海洋资源已经成为我国建设海洋强国的必由之路。对水下目标的精确定位也成为急需解决的问题。光源在水中照明时,由于水介质和水中微粒的吸收和散射,光能量损耗很多,而且产生严重的散射光,降低了成像质量,降低了定位精度。 针对以上问题,提出一种新的水下目标图像探测方法——非均匀光场水下目标图像探测方法。该光场有效的降低了后向散射光的影响,能获得较远的水下探测距离。结合非均匀光场,我利用双目视觉技术,来获取水中目标的三维世界景物的姿态、形态、运动和深度等信息,从而实现水下目标的精确定位。 本文首先分别介绍了目前水下图像探测和双目立体视觉的主要技术及发展现状,其次介绍了目前水下非均匀光场目标探测方法以及以集束光源为手段建立的水下探测系统,然后详细的介绍了双目立体视觉技术,包括双目立体视觉原理、摄像机标定、立体匹配和三维坐标计算。最后利用我们设计的水下双目立体视觉系统进行了的实验,实验结果表明本系统可以精确测量水下物体的距离信息,对下一步实验进行了实验方案的设计和完善,并针对实验结果对本系统所用的匹配算法与软件提出了改进意见。 Vast area of our country, many marine species, undersea complex and diverse landscape, rich in oil and gas resources, development and utilization of marine resource has become the only way for the construction of marine power. Precise positioning of underwater targets has become an urgent problem. Light power in underwater target image detection attenuates sharply because of absorb and scattering, especially in turbid water. Backscattered light affects the image quality and positioning accuracy. To solve the above problem, a new underwater target image detection method—non-uniform light field underwater target image detection method. The light field effectively reduces the after effects of the scattered light can be farther underwater detection range. With non-uniform light field, I use binocular vision techniques to obtain three-dimensional world scene underwater target gesture, shape, motion and depth information, in order to achieve the precise positioning of underwater targets. This paper introduced the current underwater image detection and binocular stereo vision technology and development status of primary, followed by introduction of the current non-uniform light field underwater target detection method as well as the establishment of cluster light as a means of underwater detection system, and more the introduction of the binocular stereo vision technology, including the principle of binocular stereo vision, camera calibration, stereo matching and three-dimensional coordinates of the calculation. Finally, we have designed for underwater use binocular stereo vision system was the experimental results show that the system can accurately measure the distance information of underwater objects, experiments were carried out on the next test program design and improvement, and for the results of this experiment matching algorithm used in the system and software improvements made

关 键 词： 非均匀光场 双目立体视觉 水下目标定位 立体匹配

分 类 号： [TP391.41 TB566]

领　　域： [自动化与计算机技术] [自动化与计算机技术] [交通运输工程] [理学] [理学]