Underwater 3D target positioning by inhomogeneous illumination based on binocular stereo vision

This paper presents a new approach for underwater 3D target positioning by inhomogeneous illumination based on binocular stereo vision. Based on the theory of inhomogeneous illumination field, we build underwater binocular stereo vision system to measure the distance between the target and the detector (CCD receiver) as well as the 3D information of the target, which can be used to the further 3D reconstruction of underwater scene. The underwater experiments show that our system can get the depth as well as posture information of the targets accurately, especially in turbid water.