Abstract
Abstract. This paper presents an underwater laser scanning system and GNSS based trajectory estimation system for scanning from a surface vessle in shallow water. The system has an above-the-water and an underwater component. Above-the-water two low-cost multiband GNSS receivers with an antenna baseline of one meter are used for RTK positioning with heading. The full 6-DOF is estimated by fusing the satellite navigation data with a MEMS-based INS. The 3D data is captured in water using a structured light scanner consisting of a low-light underwater camera and a green cross line laser projector. We describe the development of the system and employed hardware components. We show results of scanning a large test object in a water tank acquired by from a tripod with a motorized yaw axis. Additionally, we demonstrate first results of mobile mapping from a floating platform. We evaluate the performance of the system by measuring the 6-DOF trajectory with an external optical tracking system. Additionally, we assess the quality of the created point cloud using reference objects placed in the scene.
Highlights
In the last decade digital tools are increasingly employed for the acquisition and documentation of archeological sites, in order to achieve higher accuracy and achieve cheaper and more reliable results under economic restrictions. 3D laser scanning is one of the standard optical survey tools for documentation in archeology
We present a structured light underwater laser scanning system for mobile scanning from a surface vessel
While for close range scans of around 1 m small errors in the range of millimeters are possible to achieve with the system, for this larger object, which encompasses a depth range of approximately 2 m to 4 m, the errors are in the centimeter range as shown in the error bar on the right side of the image
Summary
In the last decade digital tools are increasingly employed for the acquisition and documentation of archeological sites, in order to achieve higher accuracy and achieve cheaper and more reliable results under economic restrictions. 3D laser scanning is one of the standard optical survey tools for documentation in archeology. While digitizing archaeological sites on land as well as artifacts are well understood and standard methods of photogrammetry like 3D modeling from photos or laser scanning can be applied, underwater surveying is still a complex and difficult task. It is necessary to move the scanner in order to digitize larger objects or capture larger areas in water This can be applied to applications like documentation, searching for artifacts in the water, or sediment analysis. We present the development and construction of a structured light underwater laser scanning system and show first results on applying the system for mobile scanning in the water. The 6-DOF trajectory is estimated by fusing satellite navigation data with a MEMS-based inertial navigation system (INS)
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