Optical Instruments, Volume. 46, Issue 3, 73(2024)
Design of a real-time underwater binocular image acquisition and processing system based on ZYNQ
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Fig. 8. Real time image acquisition and display with binocular cameras
Table 1. Calibration parameters for binocular cameras
View tableView in ArticleTable 1. Calibration parameters for binocular cameras
设备 左相机 右相机 内参矩阵 $ \left[\begin{array}{ccc}1\;514.966\;84& 0.812\;33& 180.731\;56\\ 0& 1\;515.988\;35& 315.154\;62\\ 0& 0& 1\end{array}\right] $ $ \left[\begin{array}{ccc}1\;521.277\;90& 0.637\;67& 155.092\;74\\ 0& 1\;522.239\;42& 352.101\;39\\ 0& 0& 1\end{array}\right] $ 畸变系数 $ \left[\begin{array}{ccc}-0.085\;41& 0.018\;13& 0.292\;76\end{array}\right] $ $ \left[\begin{array}{ccc}-0.091\;24& 0.036\;78& 0.203\;14\end{array}\right] $ 旋转矩阵 $ \left[\begin{array}{ccc}0.999\;43& -0.033\;05& -0.007\;17\\ 0.033\;01& 0.999\;44& -0.005\;74\\ 0.007\;36& 0.005\;50& 0.999\;96\end{array}\right] $ 平移矩阵 $ \left[\begin{array}{ccc}-57.483\;61& -1.230\;10& -0.685\;21\end{array}\right] $
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Chongbing ZHANG, Xiaowei LI, Ningyang WEI, Yue CHENG, Jin LI. Design of a real-time underwater binocular image acquisition and processing system based on ZYNQ[J]. Optical Instruments, 2024, 46(3): 73
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Received: Dec. 28, 2023
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Published Online: Jul. 31, 2024
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