Binocular Camera Calibration for Underwater Stereo Matching

This paper presents an efficient stereo matching method applied to underwater with a binocular camera. Since underwater calibration is an inconvenient task and the traditional imaging model in the air and the parameters of the camera are no longer applicable to the underwater because of the distortion caused by light refraction. To solve this problem, we proposed a way to calibrate the binocular camera in the air for underwater stereo matching. We studied the imaging principle of the camera, and derived the relationship of the camera between in the air and underwater. Then, we performed underwater stereo matching experiments using the parameters of the camera calibrated in the air and found it to be effective.