  Binocular stereo vision is an important branch of machine vision, which
imitates the human eye and matches the left and right images captured by the
camera based on epipolar constraints. The matched disparity map can be
calculated according to the camera imaging model to obtain a depth map, and
then the depth map is converted to a point cloud image to obtain spatial point
coordinates, thereby achieving the purpose of ranging. However, due to the
influence of illumination under water, the captured images no longer meet the
epipolar constraints, and the changes in imaging models make traditional
calibration methods no longer applicable. Therefore, this paper proposes a new
underwater real-time calibration method and a matching method based on the best
search domain to improve the accuracy of underwater distance measurement using
binoculars.
