The camera in underwater stereo vision system conforms to the multi-layer refraction model, and the perspective projection camera model is invalid. Because the imaging light is refracted, the corresponding pixel is not conform to the traditional polar constraint, and the stereo matching methods have to conduct two dimensional search. In this paper, a standard expression is proposed to reduce the search space to one dimension. Based on light field, any specific underwater binocular stereo vision is converted to a standard setup, in which the axes of two cameras are parallel and the image is expressed as the light field, the direction information image and the position image. We found and proved that the direction information image conforms to the rule of row corresponding. With this standard expression, the stereo matching is efficiently conducted and the 3D information can be computed from the disparity map and the position image. In the experiment, an underwater binocular stereo vision system is developed and the proposed method is compared with the traditional method. The results confirms that the proposed method has several advantages of conciseness, correctness, efficiency, and generality.

中文翻译：

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用于立体匹配的水下双目视觉标准表达式

水下立体视觉系统中的相机符合多层折射模型，透视投影相机模型无效。由于成像光被折射，对应的像素点不符合传统的极坐标约束，立体匹配方法不得不进行二维搜索。在本文中，提出了一种标准表达式来将搜索空间减少到一维。基于光场，将任何特定的水下双目立体视觉转换为标准设置，其中两个相机的轴平行，图像表示为光场、方向信息图像和位置图像。我们发现并证明了方向信息图像符合行对应规则。有了这个标准表达，立体匹配被有效地进行，并且可以从视差图和位置图像计算 3D 信息。实验中，研制了一种水下双目立体视觉系统，并与传统方法进行了比较。结果表明，该方法具有简洁性、正确性、高效性和通用性等优点。