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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
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Binocular vision based locating system for underwater inspection
CHEN Yuanjie, ZHU Kangwu, GE Yaozheng, GU Linyi
(State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China)
Abstract: A new binocular stereo vision locating system was designed for the guidance of the manipulator on a remotely operated vehicle(ROV). In order to adapt the complex underwater environment, a sealing structure for the camera, a method of underwater calibration and a new method of object locating based on front parallel plane transformation were designed. Experiment results show the accuracy and stability of the underwater locating system, the locating error of which can be kept within 3%.
Key words: remotely operated vehicle(ROV); underwater calibration; binocular stereo vision; locating; front parallel plane transformation
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