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水下激光定位目标在视野之外,基于双眼视觉的双眼视觉

Jinhao Li, Jingxuan Cheng, Yufan Zhang

|October 19, 2023

概括

这项研究介绍了一种使用双眼相机的新型水下激光定位系统. 它准确地确定了相机视野之外的激光源的3D位置,克服了传统的限制.

科学领域:

机器人和自动化机器人和自动化
光学工程是指光学工程.
海洋学海洋学海洋学

背景情况:

传统的水下定位系统面临的局限性是由于相机的视野有限 (FOV).
准确的3D空间定位对于水下机器人,探索和监测至关重要.

研究的目的:

引入和验证一个创新的水下激光定位方案.
为了克服传统的基于摄像头的定位方法所固有的视野限制.
为了实现目标的3D空间定位,即使它们在相机的FOV之外.

主要方法:

开发一种利用双眼相机系统的水下激光定位方案.
捕获激光光路径,即使在水下散射,在合适的范围和度内.
模拟和分析散射光成像,以识别激光传播方向.
从双眼光束图像计算固定激光源的3D信息.

主要成果:

拟议的系统成功捕获了激光光路径,尽管在水下散射.
该方法允许在摄像机视野之外的目标进行3D定位.
实验验证表明,在5米范围内的3D定位平均误差为5.53厘米.
该系统在0.325m-1.1的水下衰减条件下有效运行.

结论:

开发的水下激光定位方案有效地突破了传统的FOV限制.
基于双眼相机的系统在具有挑战性的水下环境中提供了准确的3D空间定位.
这项技术为增强水下导航和目标定位提供了一个有前途的解决方案.

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Depth Perception and Spatial Vision

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