Comparison Between Triangulation and Curve Fitting Tool Methods for Underwater Ranging Using Stereo Vision
[1]
Shadi Mahmoodi Khaniabadi, Safahan Institute of Higher Education, Esfahan, Iran.
[2]
Ali Khalili Mobarakeh, Robotic Group, School of Engineering, University of Malaga, Teatinos Campus, Malaga, Spain.
[3]
Saba Nazari, Safahan Institute of Higher Education, Esfahan, Iran.
There is a growing interest in underwater applications. Stereo vision is one of the best methods for distance estimation of underwater object. In this research two pairs of cameras were used as stereo image acquisition to estimate the distance of underwater object. The stereo vision system in this project consists of calibration of camera, rectification of images, segmentation of images, finding of centroid and localization of object. Edge-based segmentation, Mathematical morphology and largest area selection are used to perform image segmentation. Finally, It will be shown that curve fitting is better than triangulation method to estimate the coordinates with the overall error of around 0.5 cm with water condition where the overall error of using triangulation method is around 2.2 cm which is too much in range estimation.
Stereo Vision, Triangulation Method, Curve Fitting Tool Method, Camera Calibration
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