The refraction phenomenon of light at the interface of different media causes the epipolar to bend (the traditional camera model is invalid), and the stereo matching can’t be performed under the row matching. Therefore, we proposed a new model based on light field, in which an underwater image is expressed with the direction-information image and position image. The underwater stereo matching is conducted in the direction-information image instead of the original underwater image because the curve constraint of the correspondence becomes the row constraint in the direction-information image. In addition, the essence of stereo matching is similarity detection, but the phenomenon of absorption and scattering in water causes problems such as blurred outlines and loss of a large number of details in real underwater images, which will cause great interference in the similarity detection process. Therefore, we propose an image optimization method that fuses color correction and Dark channel Prior to improve the quality of the directional-information image. Finally, the underwater stereo matching process is divided into three steps. In order to verify the feasibility and effectiveness of the proposed method, we carry out more experiments. The experimental results show that our method and equipment can be used for underwater 3D measurement with high accuracy.

光在不同介质界面的折射现象导致对极弯曲（传统相机模型无效），行匹配下无法进行立体匹配。因此，我们提出了一种基于光场的新模型，其中水下图像用方向信息图像和位置图像表示。水下立体匹配在方向信息图像中进行，而不是在原始水下图像中进行，因为对应关系的曲线约束成为方向信息图像中的行约束。另外，立体匹配的本质是相似度检测，但是水中的吸收和散射现象会导致真实水下图像中轮廓模糊、大量细节丢失等问题，这将对相似性检测过程造成很大干扰。因此，我们提出了一种融合色彩校正和暗通道之前的图像优化方法，以提高方向信息图像的质量。最后，水下立体匹配过程分为三个步骤。为了验证所提出方法的可行性和有效性，我们进行了更多的实验。实验结果表明，我们的方法和设备可用于高精度的水下3D测量。为了验证所提出方法的可行性和有效性，我们进行了更多的实验。实验结果表明，我们的方法和设备可用于高精度的水下3D测量。为了验证所提出方法的可行性和有效性，我们进行了更多的实验。实验结果表明，我们的方法和设备可用于高精度的水下3D测量。