[1] ZHANG Wenming, DENG Qianxue, ZHANG Qiang et al. Underwater image transformation model based on non-parallel system[J]. Acta Photonica Sinica, 44, 0211002(2015).

[2] XIE Zexiao, YU Jiangshu, CHI Shukai et al. Underwater calibration and measurement of non-parallel binocular vision system[J]. Journal of the Optical, 39, 0912004(2019).

[3] XIE Liangliang, TU Dawei, ZHANG Xu et al. Deep-sea in situ laser scanning binocular stereo vision imaging syste[J]. Chinese Journal of Scientific Instrument, 41, 106-114(2020).

[4] XU H, JIN P, GAO Z. Study on influence factors of underwater shockwave sensor dynamic calibration[J]. Vibroengineering Procedia, 30, 180-185(2020).

[5] YANG W, ZHANG X, MA H et al. Non-central refractive camera calibration using co-planarity constraints for a photogrammetric system with an optical sphere cover[J]. Optics and Lasers in Engineering, 139, 1-9(2021).

[6] DENG Z, SUN Z. Binocular camera calibration for underwater stereo matching[J]. Journal of Physics Conference Series, 1550, 1-9(2020).

[7] SADEGHI-NIARAKI A, CHOI S M. A survey of marker-less tracking and registration techniques for health environmental applications to augmented reality and ubiquitous geospatial information systems[J]. Sensors, 20, 1-26(2020).

[8] PARVATHI V S, VICTOR J C. Multiview 3D reconstruction of underwater scenes acquired with a single refractive layer using structure from motion[C](2018).

[9] PARVATHI V S, JIJI C. Refraction corrected pose estimation for 3D reconstruction of underwater objects[C](2019).

[10] ELNASHEF B, FILIN S. Direct linear and refraction-invariant pose estimation and calibration model for underwater imaging[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 154, 259-271(2019).

[11] KWON Y H, SEBOLT J B C A. Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis.[J]. Sports Biomechanics, 5, 315-340(2006).

[12] WEI Jingyang. Underwater high precision 3D reconstruction method based on binocular stereo vision[D](2016).

[13] LUCZYNSKI, PFINGSTHORN M, BIRK A. The pinax-model for accurate and efficient refraction correction of underwater cameras in flat-pane housings[J]. Ocean Engineering, 133, 9-22(2017).

[14] SUN J, WANG H, ZHU X. A fast underwater calibration method based on vanishing point optimization of two orthogonal parallel lines[J]. Measurement, 178, 109-118(2021).

[15] LI S Q, XIE X P, ZHUANG Y J. Research on the calibration technology of an underwater camera based on equivalent focal length[J]. Measurement, 122, 275-283(2018).

[16] KANG L, WU L, WEI Y et al. Two-view underwater 3D reconstruction for cameras with unknown poses under flat refractive interfaces[J]. Pattern Recognition, 69, 251-269(2017).

[17] AGRAWAL A, RAMALINGAM S, TAGUCHI Y et al. A theory of multi-layer flat refractive geometry[C](2012).

[18] ZHANG Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 22, 1330-1334(2000).

[19] ZHUANG S F, ZHANG X, TU D et al. A standard expression of underwater binocular vision for stereo matching[J]. Measurement Science and Technology, 31, 115-123(2020).