Underwater Distance Measurement Using Machine Learning

抄録

We develop a ROV to capture sea urchins. As a next step, we move the ROV automatically. To achieve this function, we need to know the distance between ROV and sea urchins. In this paper, a binocular stereo vision ranging system based on OpenCV-Python is designed and used with Viola-Jones algorithm for binocular recognition. Zhang’s algorithm method is used to calibrate the binocular cameras to obtain internal and external parameters, which provide necessary data for the subsequent image processing and stereo matching. In this paper, OpenCV-Python is completely used to build the system construction to achieve the simplicity of the platform, which has better robustness and high accuracy. Stereo matching adopts SGBM algorithm, which is relatively fast and real-time in stereo matching, and can be better applied to ROV sea urchin detection.