[1] [1] Sanchez-Ferreira C, Mori J Y, Llanos C H, Fortaleza, et al. Development of a stereo vision measurement architecture for an underwater robot[C]. IEEE 4th Latin American Symposium on Circuits and Systems, 2013: 1-4.

[2] [2] Wu Y, Nian R, He B.3D reconstruction model of underwater environment in stereo vision system[C]. IEEE Oceans San Diego, 2013: 1-4.

[3] [3] Lowe D G. Distinctive image features from scale-invariant keypoints[J]. International Journal of Computer Vision, 2004, 60(2): 91-110.

[4] [4] Zhu Shiping, Li Zheng. A stereo matching algorithm using improved gradient and adaptive window[J]. Acta Optica Sinica, 2015, 35(1): 0110003.

[5] [5] Qin Guiqin, Zhang Yongsheng, Huang Guiping, et al. Underwater photography collinear measurement theory and camera calibration method[J]. Metering Sinica, 2014, 35(2): 133-138.

[6] [6] Xiao Yun, Zhang Yunhai, Tan Huiming. Effect of aberration induced by refractive index mismatch on imaging in confocal microscopy[J]. Laser & Optoelectronics Progress, 2015, 52(2): 021801.

[7] [7] Wang Zongyi. Vision sensor with structured light and underwater 3D measurement[D]. Harbin: Harbin Engineering University, 2005: 96-106.

[8] [8] Zhang Wenming, Deng Xixue, Zhang Qiang, et al. Non-parallel system underwater image transformation model[J]. Acta Photonica Sinica, 2015, 44(2): 0211002.

[9] [9] Gedge J, Gong M, Yang Y. Refractive epipolar geometry for underwater stereo matching[C]. 2011 Canadian Conference on Computer and Robot Vision, 2011: 146-152

[10] [10] Zhang Qiang, Hao Kai, Li Haibin. Research on scale invariant feature transform feature matching based on underwater curve constraint[J]. Acta Optica Sinica, 2014, 34(2): 0215003.

[11] [11] Zhang Qiang, Liu Tingting, Li Haibin, et al. Research on region matching for underwater images based on optimum searching area[J]. Acta Optica Sinica, 2014, 34(6): 0615001.

[12] [12] Gong Wenbiao, Gu Guohua, Qian Weixian, et al. Stereomatching algorithm based on image segmentation and adaptive support weight[J]. Acta Optica Sinica, 2015, 35(s2): s210002.

[13] [13] Ni Weiji, Xu Guili, Tian Yupeng, et al. Rapid stereo matching based on color segmentation and adaptive window[J]. Journal of Scientific Instrument, 2011, 32(1): 194-200.

[14] [14] Scharstein D, Szeliski R. A taxonomy and evaluation of dense two-frame stereo correspondence algorithms[J]. International Journal of Computer Vision, 2002, 47(1-3): 7-42.

[15] [15] Iqbal K, Odetayo M, James A, et al. Enhancing the low quality images using unsupervised colour correction method[C]. 2010 IEEE International Conference on Systems Man and Cybernetics, 2010: 1703-1709.

[16] [16] Gerrits M, Bekaert P. Local stereo matching with segmentation-based outlier rejection[C]. The 3rd Canadian Conference on Computer and Robot Vision, 2006: 66-66.

[17] [17] Comaniciu D, Meer P. Mean shift: A robust approach toward feature space analysis[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 24(5): 603-619.

[18] [18] Liang Fang. Research on stereo matching algorithm basedon image segmentation[D]. Beijing: Beijing University of Posts and Telecommunications, 2014.

[19] [19] Gao Bo. Research on stereo matching algorithm based on color image segmentation[D]. Xi′an: Xi′an Institute of Optics and Fine Mechanics, Chinese Academy of Sciences, 2013.

[20] [20] Brown M Z, Burschka D, Hager G D. Advances in computational stereo[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2003, 25(8): 993-1008.

[21] [21] Zhang Wenming, Wang Xin, Zhang Qiang, et al. Positioning algorithm in multi-media refractive imaging system based on particle swarm optimization calibration[J]. Acta Optica Sinica, 2013, 33(5): 0515001.

[22] [22] Li Guangle, Huang Wenyou, Liu Qingsong, et al. Improved Zhang′s calibration method and experiments for underwater binocular stereo-vision[J]. Acta Optica Sinica, 2014, 34(12): 1215006.