Sufeng Zhuang, Dawei Tu, Jianye Liu. Underwater Binocular Vision 3D Imaging with Active Speckle Projection[J]. Acta Optica Sinica, 2023, 43(14): 1411003
- Acta Optica Sinica
- Vol. 43, Issue 14, 1411003 (2023)
Fig. 1. Underwater binocular vision imaging system based on active speckle projection
Fig. 2. Speckle patterns generated by the computer. (a) Speckle density is 1%, speckle size is 4 pixel, and size of each speckle is 2 pixel×2 pixel; (b) speckle density is 2%, speckle size is 9 pixel, and size of each speckle is 3 pixel×3 pixel
Fig. 3. Underwater active speckle projection and camera imaging
Fig. 4. Schematic of active projection speckle binocular stereo imaging
Fig. 5. Underwater binocular stereo camera imaging model with active speckle projection
Fig. 6. Influence of the speckle size on matching accuracy
Fig. 7. Influence of speckle density on matching accuracy
Fig. 8. Matching error of corresponding points at different distances. (a) Z=2400 mm; (b) Z=2800 mm; (c) Z=3200 mm; (d) Z=3600 mm
Fig. 9. Experimental equipment. (a) Underwater binocular stereo vision device; (b) projector
Fig. 10. Experiment scene
Fig. 11. Motion diagram of underwater target
Fig. 12. Underwater images acquired by left camera. (a) Image of frame 1; (b) image of frame 2; (c) image of frame 3; (d) image of frame 4
Fig. 13. 3D point cloud and fitting sphere at different motion positions. (a) 3D point cloud at frame 1; (b) 3D point cloud at frame 2; (c) 3D point cloud at frame 3; (d) 3D point cloud at frame 4
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Table 1. Calibration parameters of active speckle underwater binocular vision imaging system
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Table 2. Error and standard deviation of standard ball
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