Fig. 1. Underwater camera imaging model

Fig. 2. System Schematic

Fig. 3. Underwater binocular vision model

Fig. 4. Pixel-based matching process diagram

Fig. 5. Flow chart of color correction algorithm

Fig. 6. Enhanced effects of images

Fig. 7. Flow chart of alignment and superposition of 3D point cloud and RGB color

Fig. 8. Alignment superposition model of 3D point cloud and 2D RGB data

Fig. 9. System electrical structure diagram

Fig. 10. Physical engineering prototype

Fig. 11. Internal structure of the central cylinder

Fig. 12. Internal structure of cylinder on both sides

Fig. 13. Experimental scene

Fig. 14. Original underwater images and enhanced images

Fig. 15. Effect comparison of enhancement algorithms

Fig. 16. Registration effect of 3D point cloud and RGB color

Fig. 17. Precision measurement experiment