Abstract
Sensing in aquatic environments meets the difficulty that image distortion occurs by refraction of light due to the difference of refractive indices of air and water. This paper proposes a 3D measurement method of objects in water by an underwater robot equipped with fisheye stereo cameras which enables the robot to do its task safely with a wide field of view. The method removes the effect of refraction to realize accurate three-dimensional measurement. Experimental results show the effectiveness of the proposed method.
