3D reconstruction model of underwater environment in stereo vision system

Underwater 3D reconstruction has shown great prospects in ocean investigations. In this paper, the stereo vision system has been set up to explore the 3D reconstruction scheme of the underwater environment at small scale and high density. The dense disparity map will be first developed in a fast stereo matching algorithm with the biocular consistency checking and uniqueness validation, and then 3D surface model can be completed on the basis of the depth map and further adjusted by the image quality enhancement combined with the homomorphic filtering and wavelet decomposition. It has been shown in the simulation experiments that the proposed model could get good performances in both robustness and effectiveness, and the colors and textures in the 3D reconstruction process could be corrected against the underwater light propagation.