| Aiming at solving the imaging distortion problem of underwater visual SLAM camera, the causes of imaging distortion of underwater robot camera are analyzed in this paper, and the correction model is used to calculate the distortion coefficient to obtain the correct pixel coordinates. The experiment proves that in the air and water, the camera internal reference and the distortion coefficients are quite different, and in different water bodies, only the distortion coefficient changes. It is shown that when performing underwater SLAM, the current experimental water body calibration parameters can be used to obtain better positioning and map construction results. |
