Aiming at the segmentation problem of target partial segmentation by applying typical col-or-to-gray and thresholding methods ,a two-step target segmentation method based on grayscale con-trast enhancement was proposed .First ,a rough target segmentation via color vector threshold was conducted .Second ,the regional uniformity and the local contrast were analyzed to determine dynami-cally the weights of different channel and image reverse processing for enhancing the grayscale con-trast ,so the thresholding methods can complete accurate target segmentation .Aiming at the positio-ning problem that typical calibration ,stereo matching and target position measurement methods are not suitable for the research environment ,a target positioning method based on target-size estimation was proposed in this paper .First an online extrinsic parameter calibration and the center point of the target matching were conducted .Then the target-size was estimated by using a binocular position da-ta .Finally the position data was obtained by adopting a monocular position measurement method . Underwater experimental results demonstrate that the proposed segmentation method can segment the target accurately ,the segmentation accuracy (SA) and misclassification ratio (MCR) are all superior to typical methods ,the proposed positioning method can obtain target 3D position data ,moreover , the developed binocular vision system can cooperate underwater vehicle-manipulator system (UVMS) for completing autonomous operations .
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