[1] [1] Ma Songde, Zhang Zhengyou. Computer Vision [M]. Beijing: Science Press, 1998.

[2] [2] Xu Yong, Guo Pengyu, Yuan Yun, et al.. Calibration method of installation error of camera sensor plane [J]. Acta Optica Sinica, 2013, 33(4): 0412008.

[3] [3] Z Y Zhang. A flexible new technique for camera calibration [J]. IEEE Transaction on Pattern Analysis and Machine Intelligence, 2000, 22(11): 1330-1334.

[4] [4] Xue Junpeng, Su Xianyu. Camera calibration with single image based on two orthogonal one-dimensional objects [J]. Acta Optica Sinica, 2012, 32(1): 0115001.

[5] [5] Quan Tiehan, Yue Qifeng. High accuracy calibration and correction of camera system [J]. Acta Automatica Sinica, 2000, 26(6): 748-754.

[6] [6] J Y Bouguet, P Perona. Camera calibration from points and lines in dual-space geometry [C]. European Conference on Computer Vision, 1998. 2-6.

[7] [7] J C Kinsey, L L Whitcomb. In situ alignment calibration of attitude and doppler sensors for precision underwater vehicle navigation: Theory and experiment [J]. IEEE Journal of Oceanic Engineering, 2007, 32(2): 286-299.

[8] [8] G Troni, J C Kinsey, D R Yoerger, et al.. Field performance evaluation of new methods for in-situ calibration of attitude and doppler sensors for underwater vehicle navigation [C]. IEEE International Conference on Robotics and Automation, Minnesota, 2012. 5334-5339.

[9] [9] N S Kumar, B L Mukundappa, K P Ramakanth. Design & development of autonomous system to build 3D model for underwater objects using stereo vision technique [C]. International Journal of Advances in Engineering & Technology, 2011, 1(4): 34-38.

[10] [10] T Rahman, J Anderson, P Winger, et al.. Calibration of an underwater stereoscopic vision system [C]. Oceans MTS/IEEE San Diego, 2013. 1-6.