Underwater Multimodal Survey: Merging Optical and Acoustic Data

Drap, Pierre; Merad, Djamal; Boï, Jean-Marc; Mahiddine, Amine; Peloso, Daniela; Chemisky, Bertrand; Seguin, Emmanuelle; Alcala, Frederic; Bianchimani, Olivier

doi:10.1007/978-3-319-03440-9_14

Cited by 11 publications

(8 citation statements)

References 33 publications

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“…In contrast, the BV5000 MSS is based on a multi-beam echosounder placed on a pan-tilt system and produces 3D point clouds, as described and illustrated in [11,12]. The BV5000 was one of the first devices of this type to appear on the commercial market, at the beginning of the decade.…”

Section: Related Workmentioning

confidence: 99%

Evaluating a Static Multibeam Sonar Scanner for 3D Surveys in Confined Underwater Environments

et al. 2018

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Mechanical Sonar Scanning (MSS) is a recent technology that allows sonar to be used for static measurements in the same way as Terrestrial Laser Scanners (TLS), which makes it an attractive tool for underwater infrastructure surveys. Nevertheless, the metrological capabilities of this type of device have been little explored in the literature, particularly in narrow and shallow environments. In this paper, we report on the experimental assessment of a recent MSS, the BlueView BV5000, in a lock. The 3D sonar scans performed with the system suspended from the surface are registered using an innovative algorithm that exploits external measurements from a total station and the symmetry of the structure. We review the different errors that impair sonar data, and compare the resulting point cloud to a TLS model that was acquired the day before, while the lock was completely emptied for maintenance. After correcting a tilt angle calibration error, the maximum difference is less than 10 cm, and the standard deviation is about 3 cm. Visual inspection shows that coarse defects of the masonry, such as stone lacks or cavities, can be detected in the MSS point cloud, while details smaller than 4 cm, e.g., damaged joints, are harder to notice.

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Section: Related Workmentioning

confidence: 99%

Evaluating a Static Multibeam Sonar Scanner for 3D Surveys in Confined Underwater Environments

et al. 2018

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“…Data from an Inertial Measurement Unit (IMU) were integrated to estimate the position and orientation of the DWM inside the cave system. Drap et al (2014) fused data from a static acoustic camera and a photogrammetric system with three synchronized digital cameras to produce a multi-resolution dense 3D model of an underwater cave off the coast of Marseilles. A pure imaged-based approach was proposed by Weidner 2017, who employed a stereo camera with an illumination source.…”

Section: Underwater Cavesmentioning

confidence: 99%

3d Virtualization of an Underground Semi-Submerged Cave System

Nocerino

Menna

Farella

et al. 2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. Underwater caves represent the most challenging scenario for exploration, mapping and 3D modelling. In such complex environment, unsuitable to humans, highly specialized skills and expensive equipment are normally required. Technological progress and scientific innovation attempt, nowadays, to develop safer and more automatic approaches for the virtualization of these complex and not easily accessible environments, which constitute a unique natural, biological and cultural heritage. This paper presents a pilot study realised for the virtualization of 'Grotta Giusti' (Fig. 1), an underground semi-submerged cave system in central Italy. After an introduction on the virtualization process in the cultural heritage domain and a review of techniques and experiences for the virtualization of underground and submerged environments, the paper will focus on the employed virtualization techniques. In particular, the developed approach to simultaneously survey the semi-submersed areas of the cave relying on a stereo camera system and the virtualization of the virtual cave will be discussed.

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“…Such a method is difficult to adopt in the opto-acoustic alignment, because a point-to-point correspondence between 3D points in both representations is not a simple task, i.e. , the low resolution and the strong noise component of acoustic data do not allow for precisely localizing a point position as determined for the optical camera, as demonstrated in [ 2 , 20 ]. Therefore, it is necessary to find other features fit for establishing the correspondence between optical and acoustic frames.…”

Section: Relative Orientation Of the Opto-acoustic 3d Cameramentioning

confidence: 99%

“…Since methods that rely on explicit opto-acoustic correspondences have to be avoided [ 2 , 20 ], in our approach the acoustic 3D point clouds representing the orientation rig are matched to the optical counterpart by using the Iterative Closest Point (ICP) algorithm, an iterative least-square technique used for the registration of rigid 3D shapes. This approach eliminates the need to perform any feature extraction or to specify any explicit feature correspondence.…”

Section: Relative Orientation Of the Opto-acoustic 3d Cameramentioning

confidence: 99%

“…Acoustic and optical 3D systems are widely used to collect 3D information in underwater applications, such as 3D reconstruction of submerged archaeological sites, seabed mapping, or Remotely Operated underwater Vehicle (ROV) navigation [ 1 , 2 , 3 ]. Acoustic systems typically give good results in long-range acquisitions and do not suffer from turbidity, but the resulting 3D data are affected by low resolution and accuracy.…”

Section: Introductionmentioning

confidence: 99%

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An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

Lagudi

Bianco

Muzzupappa

et al. 2016

Sensors

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The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition. An appropriate rig has been used in the laboratory tests to determine the relative position between the two sensor frames. The experimental results show that our alignment approach, based on the acquisition of a rig in several poses, can be adopted to estimate the rigid transformation between the two heterogeneous sensors. A first estimation of the unknown geometric transformation is obtained by a registration of the two 3D point clouds, but it ends up to be strongly affected by noise and data dispersion. A robust and optimal estimation is obtained by a statistical processing of the transformations computed for each pose. The effectiveness of the method has been demonstrated in this first experimentation of the proposed 3D opto-acoustic camera.

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Underwater Multimodal Survey: Merging Optical and Acoustic Data

Cited by 11 publications

References 33 publications

Evaluating a Static Multibeam Sonar Scanner for 3D Surveys in Confined Underwater Environments

Evaluating a Static Multibeam Sonar Scanner for 3D Surveys in Confined Underwater Environments

3d Virtualization of an Underground Semi-Submerged Cave System

An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

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