Table 2 Calibration parameters of underwater binocular camera.
From: Research on underwater robot ranging technology based on semantic segmentation and binocular vision
Argument | Left camera | Right camera | ||||
|---|---|---|---|---|---|---|
Internal parameter matrix | 852.8751 | 1.1661 | 401.5783 | 864.0935 | 1.0953 | 388.9654 |
0 | 851.1953 | 304.2632 | 0 | 867.1186 | 299.8731 | |
0 | 0 | 1 | 0 | 0 | 1 | |
Radial distortion | − 0.1325 | 0.6658 | − 0.3654 | − 0.1368 | 0.6721 | − 0.3588 |
Tangential distortion | 0 | 0 | 0 | 0 | ||
Rotation matrix | 0.9999 | 2.6179 | − 0.0069 | |||
− 2.8941 | 0.9999 | 3.2314 | ||||
0.0058 | − 0.0110 | 0.9999 | ||||
Translation vector | − 58.6325 | − 1.1842 | 1.6924 | |||
