Abstract
In this study, a laser line auto-scanning system was designed to perform underwater close-range 3D reconstructions with high accuracy and resolution. The system changes the laser plane direction with a galvanometer to perform automatic scanning and obtain continuous laser strips for underwater 3D reconstruction. The system parameters were calibrated with the homography constraints between the target plane and image plane. A cost function was defined to optimize the galvanometer’s rotating axis equation. Compensation was carried out for the refraction of the incident and emitted light at the interface. The accuracy and the spatial measurement capability of the system were tested and analyzed with standard balls under laboratory underwater conditions, and the 3D surface reconstruction for a sealing cover of an underwater instrument was proved to be satisfactory.
Highlights
A large number of underwater applications require high resolution and accurate 3D reconstruction for underwater objects
Passive methods sense the environment with a sequence of pictures taken from different viewpoints, so that 3D information will be recovered with the image features matching or stereo matching algorithms [16,17]
Common structured light systems usually project a pattern onto the object with a projector to reconstruct [20]
Summary
A large number of underwater applications require high resolution and accurate 3D reconstruction for underwater objects. Due to the small coverage area of a single laser stripe, a motion generator is often used to carry the laser to perform a scan Such institutions usually exercise large size and power consumption [22,23]. There are some commercial solutions available for 3D data gathering [34,35,36,37] These systems can achieve high-resolution results with the precise control of the laser line movement, and they are more efficient than single laser line systems. Our main motivation to develop this sensor was to provide visual guidance for an underwater intervention task with higher accuracy This requires that the sensor can accurately measure the geometry information of the operation target, including shape, size, position, etc.
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