Research on Underwater Positioning Based on Binocular Vision

Due to the different refractive indexes of air and water, the propagation paths of light in air and water are different. The traditional matching principle is not suitable for underwater feature point matching, which increases the difficulty of binocular positioning of machine vision. In view of the above problems, the three-dimensional coordinates of the target point are derived by transforming the three main visual space coordinate systems. Combined with Snell refraction theorem and similar triangle theorem, the binocular underwater refraction model is established, and the underwater polar line corresponding to a point on the left image in the right image is determined. According to the light propagation characteristics, the corresponding point trajectory is obtained, and the underwater stereo matching is completed, which lays a foundation for achieving high-precision underwater binocular positioning.