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Binocular stereo vision is an important branch of machine vision, whichimitates the human eye and matches the left and right images captured by thecamera based on epipolar constraints. The matched disparity map can becalculated according to the camera imaging model to obtain a depth map, andthen the depth map is converted to a point cloud image to obtain spatial pointcoordinates, thereby achieving the purpose of ranging. However, due to theinfluence of illumination under water, the captured images no longer meet theepipolar constraints, and the changes in imaging models make traditionalcalibration methods no longer applicable. Therefore, this paper proposes a newunderwater real-time calibration method and a matching method based on the bestsearch domain to improve the accuracy of underwater distance measurement usingbinoculars.

An underwater binocular stereo matching algorithm based on the best search domain