A Monocular Vision Measurement Algorithm Based on the Underwater Robot

摘要

A monocular vision measurement system was proposed based on the underwater robot, which used a single camera as visual sensor and used inertial navigation system to measure position and attitude. In this paper, the processing of underwater target images and the parameter calibration algorithm for visual measurement system were discussed, and then the visual measurement mathematic model of underwater robot was derived using the pose information of the inertial navigation system. Vision measuring principle validation tests for underwater robot have been carried out to detect underwater targets. The experiments verify that the monocular vision measurement algorithm proposed for underwater robot is effective with a preferably accuracy.