Calibration method for key refractive parameters of underwater binocular vision

• Published in: Optics and lasers in engineering Vol. 179; p. 108228
• Main Authors: Jia, Wei, Wang, Xinze, Li, Yecheng, Chen, Pengfei, Xie, Zexiao
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2024
• Subjects: Refractive camera model; Underwater calibration; Underwater measurement; Underwater stereo vision; Underwater stereo vision; Underwater measurement; Refractive camera model; Underwater calibration
• ISSN: 0143-8166; 1873-0302
• DOI: 10.1016/j.optlaseng.2024.108228

Addressing the issue of nonlinear aberration stemming from refraction encountered in underwater binocular vision system measurements, we present an algorithm aimed at calibrating said system requiring only a small number of camera positions to capture pictures of an underwater planar surface. Following this, the calibration parameters of the underwater binocular vision system can be completed. The technique takes into account the genuine refraction of light in the underwater environment, utilizing the quaternion for optical tracking. It also considers the true application of the refraction plane and the non-perpendicular optical axis situation, optimized with the particle swarm algorithm for key parameters. Based on the calibration results, the algorithm yielded an average measurement error of no more than 0.1 mm for objects measured in varying attitudes. The maximum measurement error did not exceed 0.5 mm. •Modeling independent non-parallel underwater binocular refractive interfaces for practical applications.•Proposed an easy-to-use calibration algorithm for key refractive parameters of an underwater binocular system.•The proposed algorithm is applicable to the majority of binocular vision systems that are watertight for underwater scenes.