引用本文:万至达,张学武,盛金保,向衍,张卓,李敏,范新南,罗成名.水下结构物表面缺陷的仿生双目视觉测量[J].水利水运工程学报,2019,(2):71-78
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水下结构物表面缺陷的仿生双目视觉测量
万至达1, 张学武1, 盛金保2, 向衍2, 张卓1, 李敏1, 范新南1, 罗成名1
1.河海大学物联网工程学院，江苏常州;2.南京水利科学研究院，江苏南京
摘要:
以水库大坝深水表面裂缝为检测对象，提出了一种基于双目视觉的水下结构物表面缺陷测量方法。该方法在水下环境中标定双目摄像头的参数矩阵，对双目摄像头采集的图像进行校准，利用仿生技术对图像增强，采用基于半全局匹配的立体测量方法得到稠密视差图，进而推算出缺陷的几何参数，最终实现对水下结构物表面缺陷的测量。试验结果表明，该基于双目视觉的水下结构物表面缺陷测量方法稳定性高，可靠性强，测量精度满足工程需要。
关键词:  水下结构物  表面缺陷  双目视觉  仿生技术  立体测量
DOI：10.12170/201902010
分类号:TV698.1
基金项目:国家重点研发计划资助项目（2016YFC0401606，2018YFC0407101）；国家自然科学基金面上项目（61671202, 61573128, 51679151）；中央级公益性科研院所基本科研业务费专项资金重点项目(Y716015,Y716011)；江苏省自然科学基金青年基金项目（BK20180189）
Bionic binocular vision measurement of surface defects of underwater structures
WAN Zhida1, ZHANG Xuewu1, SHENG Jinbao2, XIANG Yan2, ZHANG Zhuo1, LI Min1, FAN Xinnan1, LUO Chengming1
1.College of Internet of Things Engineering, Hohai University, Changzhou;2.Nanjing Hydraulic Research Institute,Nanjing
Abstract:
Surface defects of underwater structures (e.g.dams, offshore platforms, ports and bridges) pose a threat to their operation and are the main risk factors inducing or causing major accidents. In this paper a method is proposed for measuring the surface defects of underwater structures based on binocular vision, and it is applied to surface crack detection of reservoir dams under deep water. In this method, the parameter matrix of a binocular camera in the underwater environment is first calibrated for correction of camera images, and then a biomimetic technology is adopted for image enhancement. Thereafter, a stereo measurement based on the semi-global matching approach is conducted to obtain a dense disparity map of the defects to deduce their geometric parameters and finally achieve the surface detect measurement of underwater structures. As shown in the experiment, this method can highlight image defects and make measurement results less dependent on the underwater environment; moreover, this method can provide a dense disparity map without invoking scale calibration and is simple in use with a measurement accuracy meeting the engineering requirement. This method enables practical detection for the prevention of disasters and assessment of the underwater structural health of China’s major water-resource allocation projects.
Key words:  underwater structure  surface defect  binocular vision  biomimetic technology  stereo measurement
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