Deep sea vision ranging method based on optical beacon detection

The invention relates to the technical field of deep sea distance measurement, in particular to a deep sea vision distance measurement method based on optical beacon detection. According to the method, the deep sea optical beacon images shot by the underwater camera are analyzed, the distances between every two optical beacons at different deep sea distances are measured, the distances and the real deep sea distances from the underwater camera to the optical beacons form data pairs, a deep sea vision ranging model is trained and constructed, and based on the principle that the optical beaconsare large in near distance and small in far distance, the distance between the underwater camera and the nearest optical beacon can be predicted through the shot deep sea optical beacon graph, the distance between the underwater camera and the optical beacon can be predicted only through the mutual position relation and the mutual imaging distance of the optical beacons, the influence of seawateris small, the accuracy is