Research on underwater robot ranging technology based on semantic segmentation and binocular vision

Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle d...

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Bibliographic Details
Published in:Scientific reports 2024-05, Vol.14 (1), p.12309-14, Article 12309
Main Authors: Hu, Qing, Wang, Kekuan, Ren, Fushen, Wang, Zhongyang
Format: Article
Language:English
Subjects:
639/166/988
639/705/117
Accuracy
Algorithms
Binocular vision
Calibration
Cameras
Deep learning
Efficiency
Humanities and Social Sciences
Light
multidisciplinary
Neural networks
Ranging
Science
Science (multidisciplinary)
Semantic segmentation
Semantics
Underwater cameras
Underwater robot
Underwater robots
Underwater vehicles
Vision systems
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Summary:Based on the principle of light refraction and binocular ranging, the underwater imaging model is obtained. It provides a theoretical basis for underwater camera calibration. In order to meet the requirement of underwater vehicle to identify and distance underwater target, a new underwater vehicle distance measurement system based on semantic segmentation and binocular vision is proposed. The system uses Deeplabv3 + to identify the underwater target captured by the binocular camera and generate the target map, which is then used for binocular ranging. Compared with the binocular ranging using the original drawing, the measurement accuracy of the proposed method has not changed, the measurement speed is increased by 30%, and the error rate is controlled within 5%, which meets the needs of underwater robot operations.
ISSN:2045-2322
2045-2322
DOI:10.1038/s41598-024-63017-8