A structured light method for underwater surface reconstruction

Abstract

A new structured-light method for 3D imaging has been developed which can simultaneously estimate both the geometric shape of the water surface and the geometric shape of underwater objects. The method requires only a single image and thus can be applied to dynamic as well as static scenes. Experimental results show the utility of this method in non-invasive underwater 3D reconstruction applications. The performance of the new method is studied through a sensitivity analysis for different parameters of the suggested method.

State of the Art of Underwater Active Optical 3D Scanners

“…Risholm et al [76,134] and Chua et al [75] used a doe to flash diffuse light in every direction with no spatial structure. Other authors employ spatially-structured light: Massot-Campos and Oliver-Codina [60] used a special doe to project 25 lines onto the surface of the scanned object, whereas Sarafraz and Haus [135] and Risholm et al [112,136] used commercial projectors to illuminate the scene with specifically-designed, more complex patterns. Bleier and Nüchter [137] simply used two laser lines forming a cross.…”

“…Sarafraz and Haus [135] developed a triangulation-based scanner to simultaneously estimate both the geometric shape of the water surface and the geometric shape of underwater objects from outside the water. They chose a complex pattern of red, green and blue dots using a liquid crystal display (LCD) commercial projector.…”

The Sensitivity of Multi-spectral Satellite Sensors to Benthic Habitat Change

“…In certain ranges of depth and turbidity, benthic reflectance signals are absorbed and scattered by water column components (e.g., water, phytoplankton, colored dissolved organic matter, etc.) when the signals transfer back to the water surface [41,72]. These water column components have different attenuation levels in the different wavelengths [44].…”

MARESye: A hybrid imaging system for underwater robotic applications

“…The presence of a projector in this kind of applications makes it possible to conduct range measurements with high quality because of the welldefined pattern that is normally projected in the scene is well defined however, the electric power required by this device is non-negligible which reduces the autonomy of a robotic vehicle. The work of Amin and Brian [39] , extends a structured light technique based on a camera and a projector fixed above water. Thus, the scene is illuminated with spatially varying intensity patterns to allow the extraction of the 3D surface of objects.…”