Abstract
This paper presents an underwater high-precision line laser three-dimensional (3D) scanning (LLS) system with rotary scanning mode, which is composed of a low illumination underwater camera and a green line laser projector. The underwater 3D data acquisition can be realized in the range of field of view of 50° (vertical) × 360° (horizontal). We compensate the refraction of the 3D reconstruction system to reduce the angle error caused by the refraction of light on different media surfaces and reduce the impact of refraction on the image quality. In order to verify the reconstruction effect of the 3D reconstruction system and the effectiveness of the refraction compensation algorithm, we conducted error experiments on a standard sphere. The results show that the system’s underwater reconstruction error is less than 0.6 mm within the working distance of 140 mm~2500 mm, which meets the design requirements. It can provide reference for the development of low-cost underwater 3D laser scanning system.
Highlights
System Based on Rotating Scanning.In recent years, three-dimensional (3D) terrain data and scene reconstruction technology have been gradually applied to underwater imaging applications
Due to the disadvantages of traditional acoustic detection, such as it being affected by underwater noise, non-intuitive imaging, and poor visualization effect, optical 3D reconstruction technology gradually plays its advantages in underwater operations
It can be applied to biological survey [5,6], archaeology [7,8,9,10], sea bottom topography description, etc. [11,12]
Summary
A certain number of high precision calibration points can be obtained by using the specially designed stereo target to complete the calibration [15,16,17,18] Other methods, such as hidden point, three-point perspective model, active vision, and binocular stereo vision, have certain applications on some specific occasions, greatly enriching the calibration method of the linear structured light sensor [19,20,21,22,23,24]. Yang Yu et al [27] studied a multi-channel RGB laser scanning system and proposed a high-resolution underwater true-color three-dimensional reconstruction method with three primary color lasers as the active light source, which can target objects including human faces.
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