水下无人系统学报2025，Vol.33Issue(6)：1057-1064,8.DOI:10.11993/j.issn.2096-3920.2025-0064
基于折射模型的水下相机内参快速标定方法
A Fast Calibration Method for Intrinsic Parameters of Underwater Cameras Based on Refraction Model
摘要
Abstract
To address the low operational precision caused by inaccurate intrinsic parameters of cameras in underwater visual tasks,a fast calibration method for underwater cameras was proposed.A single image containing two sets of mutually orthogonal parallel lines was used in the proposed method.By solving the vanishing points of these lines on the image plane,an orthogonal relationship related to the equivalent focal length was established.This enabled the intrinsic parameters of the camera to be determined.To address the underwater imaging distortion problem,the distortion coefficients were solved using the second-order radial distortion model with the minimum reprojection error as the optimization objective,thereby achieving the distortion calibration of underwater images and improving the accuracy of intrinsic parameter calibration.Furthermore,the accuracy of the method in restoring images was demonstrated by comparing in-air target images with their equivalent air images of underwater targets.Experimental results indicate that the proposed method is simple to operate,significantly reduces environmental requirements during camera calibration,effectively enhances calibration speed while maintaining a certain level of accuracy,and is suitable for calibration tasks of underwater cameras.关键词
水下视觉/相机标定/畸变校准/内参/消失点/折射模型Key words
underwater vision/camera calibration/distortion calibration/intrinsic parameter/vanishing point/refraction model分类
军事科技引用本文复制引用
陈俊锋,贾国涛,李雪艳,李岩田,王娴..基于折射模型的水下相机内参快速标定方法[J].水下无人系统学报,2025,33(6):1057-1064,8.基金项目
国家自然科学基金项目资助(61922037). （61922037）
