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The uncertainty research of visual positioning in different mediums

机译：不同媒体视觉定位的不确定性研究

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In engineering application, there existed deviation when light spreads in different mediums. At the same time miscellaneous medium and random fluctuation may lead to inaccuracy of visual positioning. It explored visual positioning technology in condition of different mediums for binocular camera. Firstly focused on medium material and impurity in real environment, the refractive index formula is derived through binocular visual positioning principle. Then considering deviation when light spreads in different mediums, deductive process of vision positioning is realized according to calculated refractive index. Because cloud model can better describe randomness and fuzziness. It was introduced to deal with problems of random fluctuation in different mediums. Finally simulation was designed to prove the accuracy improvement in different mediums. The result showed that accuracy error had decreased by 66.7% after considering transparent organic mediums. Compared with not knowing refractive index, positioning error had decreased by 49.7%.
机译：在工程应用中，当光在不同介质中传播时，存在偏差。同时杂项中等和随机波动可能导致视觉定位的不准确性。它探讨了双目相机不同介质条件的视觉定位技术。首先聚焦在实际环境中的中质材料和杂质中，通过双目视觉定位原理来源的折射率配方。然后考虑当光在不同介质中的光传播时，视觉定位的演绎过程是根据计算的折射率实现的。因为云模型可以更好地描述随机性和模糊性。介绍了不同媒体随机波动问题。最后模拟旨在证明不同媒体的准确性改善。结果表明，在考虑透明的有机培养基后，精度误差在66.7％下降了66.7％。与不知道折射率相比，定位误差减少了49.7％。

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