Abstract:To achieve the 3D measurement of deep sea insitu objects, a laser scanning binocular stereo vision imaging method is proposed. Based on the principle of binocular stereo vision, an underwater binocular stereo imaging measurement model is formulatedin the form of a fourdimensional light fieldrepresentation. Thelaser line scanning light bar is used as thepixelmatchingclue. Thepixelmatchingalgorithmimprovestheaccuracybetweentwocameras,whichisbasedoncoplanarconstraints.Through the design of highpressureresistantstructural, electrical and software, the corresponding engineering prototype is developed. Hydrostatic pressure experiments show that the prototype can adapt to the pressure in a depth of 4 000 meters in deep sea. In the laboratory precision experiment, a standard bat is 3 meters away from the prototype to evaluate the measurement accuracy. After multiple scans and 3D reconstructions, the standard deviation of the center distance between two balls is 228 mm. The South China Sea actual experiments show that the prototype has the capacity to implement the deep sea insitu scanning 3D measurement and reconstruction work. The standard deviation of the standard bat is 222 mm at a distance of 2 meters from the prototype. The above researches and experiments indicate that the prototype has the capacity of insitu measurement in deep sea. The higher threedimensional measurement accuracy can be realized.