Epipolar geometry and stereo matching algorithm for underwater fish-eye images
A fish-eye lens achieves a large field of view at the cost of image distortion, and underwater imaging by a fish-eye lens introduces refraction when light passes through the different medium. To obtain three-dimensional information, under these circumstances, a stereo matching algorithm is proposed...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418764715 |
| _version_ | 1818147262573838336 |
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| author | Yaqian Li Yakun Zhang Haibin Li Wenming Zhang Qiang Zhang |
| author_facet | Yaqian Li Yakun Zhang Haibin Li Wenming Zhang Qiang Zhang |
| author_sort | Yaqian Li |
| collection | DOAJ |
| description | A fish-eye lens achieves a large field of view at the cost of image distortion, and underwater imaging by a fish-eye lens introduces refraction when light passes through the different medium. To obtain three-dimensional information, under these circumstances, a stereo matching algorithm is proposed that analyzes the geometric characteristics of an underwater fish-eye image, taking into account distortion and refraction. First, the underwater imaging model of a stereo fish-eye camera is established, and the epipolar curve of the underwater fish-eye image is calculated. Then, in the matching step, an adaptive window based on mean-shift segmentation is proposed to further alleviate the impact of distortion. Experiments are performed on synthetic images and natural scene images. The results show that the proposed model and the calculated epipolar curve are effective and that the adaptive window method could improve the precision of stereo matching on underwater fish-eye images. |
| first_indexed | 2024-12-11T12:32:27Z |
| format | Article |
| id | doaj.art-2c7655eea53a4a42a1fd37f97ffeb54c |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T12:32:27Z |
| publishDate | 2018-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-2c7655eea53a4a42a1fd37f97ffeb54c2022-12-22T01:07:13ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-03-011510.1177/1729881418764715Epipolar geometry and stereo matching algorithm for underwater fish-eye imagesYaqian LiYakun ZhangHaibin LiWenming ZhangQiang ZhangA fish-eye lens achieves a large field of view at the cost of image distortion, and underwater imaging by a fish-eye lens introduces refraction when light passes through the different medium. To obtain three-dimensional information, under these circumstances, a stereo matching algorithm is proposed that analyzes the geometric characteristics of an underwater fish-eye image, taking into account distortion and refraction. First, the underwater imaging model of a stereo fish-eye camera is established, and the epipolar curve of the underwater fish-eye image is calculated. Then, in the matching step, an adaptive window based on mean-shift segmentation is proposed to further alleviate the impact of distortion. Experiments are performed on synthetic images and natural scene images. The results show that the proposed model and the calculated epipolar curve are effective and that the adaptive window method could improve the precision of stereo matching on underwater fish-eye images.https://doi.org/10.1177/1729881418764715 |
| spellingShingle | Yaqian Li Yakun Zhang Haibin Li Wenming Zhang Qiang Zhang Epipolar geometry and stereo matching algorithm for underwater fish-eye images International Journal of Advanced Robotic Systems |
| title | Epipolar geometry and stereo matching algorithm for underwater fish-eye images |
| title_full | Epipolar geometry and stereo matching algorithm for underwater fish-eye images |
| title_fullStr | Epipolar geometry and stereo matching algorithm for underwater fish-eye images |
| title_full_unstemmed | Epipolar geometry and stereo matching algorithm for underwater fish-eye images |
| title_short | Epipolar geometry and stereo matching algorithm for underwater fish-eye images |
| title_sort | epipolar geometry and stereo matching algorithm for underwater fish eye images |
| url | https://doi.org/10.1177/1729881418764715 |
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