Abstract:Whereas the traditional camera triangulation principle can not accurately be applied to the situation of light refraction, this paper put forward the theoretical method of target positioning in double-medium based on the binocular vision theory and refractive theorem. This method uses binocular cameras installed in air medium to measure the centroid of target in a glass water tank, considering the condition that light goes through different mediums and refraction occurs on the critical surface. Then this method is applied to target positioning in the water, and has obtained the centroid of target in double-medium. The result shows that the method has high accuracy and good stability, also can be applied to vision positioning measure in double-medium.