Adaptive depth constraint-based underwater binocular image feature matching

Table 1. Internal parameters of binocular camera
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Table 1. Internal parameters of binocular camera
参数左相机右相机
(f_x, f_y) (1 201.30, 1 200.86) (1 211.81, 1 207.01)
(u₀, v₀) (319.24, 255.25) (322.34, 316.32)
K (0.28, −0.74, 0.01, 0.03, 0.0) (−0.10, −0.06, 0.02, 0.01, 0.00)

Table 2. Comparison of experimental data

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Table 2. Comparison of experimental data

数据来源		算法	匹配对数	正确率/%	匹配时间/s
采集的数据	暗光	SIFT	53	84.9	0.108
		SURF	64	84.3	0.060
		UCC-SIFT	26	84.6	1.930
		ADC-UFM	52	86.5	0.721
	旋转	SIFT	98	82.7	0.112
		SURF	103	83.4	0.062
		UCC-SIFT	52	84.6	1.963
		ADC-UFM	73	84.9	0.730
	浑浊	SIFT	34	79.4	0.093
		SURF	70	78.5	0.058
		UCC-SIFT	29	86.2	1.884
		ADC-UFM	40	82.5	0.710
公开数据	暗光	SIFT	62	81.3	0.098
		SURF	80	82.5	0.060
		UCC-SIFT	43	83.7	1.901
		ADC-UFM	60	85.0	0.712
	旋转	SIFT	121	84.2	0.293
		SURF	107	83.1	0.061
		UCC-SIFT	62	85.4	1.970
		ADC-UFM	90	85.6	0.732
	浑浊	SIFT	172	84.3	0.300
		SURF	195	83.5	0.064
		UCC-SIFT	98	85.7	1.991
		ADC-UFM	120	86.7	0.753

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Jiahe TIAN, Ning WANG, Tingkai CHEN, Chunyan LI, Shuai CHEN. Adaptive depth constraint-based underwater binocular image feature matching[J]. Chinese Journal of Ship Research, 2021, 16(6): 124

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