Analysis of the Influence of Refraction-Parameter Deviation on Underwater Stereo-Vision Measurement with Flat Refraction Interface

Abstract

There has been substantial research on multi-medium visual measurement in fields such as underwater three-dimensional reconstruction and underwater structure monitoring. Addressing the issue where traditional air-based visual-measurement models fail due to refraction when light passes through different media, numerous studies have established refraction-imaging models based on the actual geometry of light refraction to compensate for the effects of refraction on cross-media imaging. However, the calibration of refraction parameters inevitably contains errors, leading to deviations in these parameters. To analyze the impact of refraction-parameter deviations on measurements in underwater structure visual navigation, this paper develops a dual-media stereo-vision measurement simulation model and conducts comprehensive simulation experiments. The results indicate that to achieve high-precision underwater-measurement outcomes, the calibration method for refraction parameters, the distribution of the targets in the field of view, and the distance of the target from the camera must all be meticulously designed. These findings provide guidance for the construction of underwater stereo-vision measurement systems, the calibration of refraction parameters, underwater experiments, and practical applications.