Laser projection photogrammetry and video system for quantification and mensuration

Kocak, Donna M.; Caimi, Frank M.; Jagielo, Thomas H.; Kloske, John

doi:10.1109/oceans.2002.1191869

Cited by 9 publications

(5 citation statements)

References 7 publications

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“…The system incorporates two lasers mounted in parallel with a third laser crossing at an oblique angle through the parallel beams. A roll/pitch sensor is integrated with a custom software package that identifies the positions of the laser spots on the video image to accurately calculate the area viewed (Kocak et al 2002). In 2006, the 3-beam system was adapted to fit on a small ROV (Phantom HD2+2) and sea-trials were conducted in January 2007.…”

Section: Technological Improvementsmentioning

confidence: 99%

Conducting Visual Surveys with a Small ROV in Shallow Water

Pacunski¹,

Palsson²,

Greene³

et al. 2008

Marine Habitat Mapping Technology for Alaska

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Small remotely operated vehicles (ROVs), sometimes described as low-cost (<$150,000) ROVs, have become valuable tools in the study of marine organisms and their habitats. The versatility and relative simplicity of these vehicles is enabling scientists and fishery managers to develop a better understanding of the marine ecosystem that has not been possible using conventional survey methodologies. The ability to work at depths beyond the reach of scuba divers and in complex habitats inaccessible to trawl surveys is helping to "fill the information gap" between nearshore and deep offshore habitats, allowing for the development of more comprehensive management strategies of the ocean's resources.Small ROVs are especially suited for use by natural resource agencies and academic institutions operating on limited budgets with minimal resources. In calm, nearshore conditions, a small ROV can be operated from vessels as small as 6 m with a minimum of equipment and crew. In contrast, conducting safe, quantitative surveys with a small ROV in more extreme marine environments increases the complexity of the operation and requires additional equipment and personnel to ensure success. This paper focuses on the technical aspects of designing and conducting shallow-water (<200 m) surveys with a small ROV, based on our experience using a Deep Ocean Engineering Phantom HD2+2 ROV in San Juan Channel, Washington. Topics addressed include equipment, navigation and tracking, deployment protocols, tether management, camera calibration, survey design, data collection, hazards and safety, transect length and width, and recent technological developments.

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Section: Technological Improvementsmentioning

confidence: 99%

Conducting Visual Surveys with a Small ROV in Shallow Water

Pacunski¹,

Palsson²,

Greene³

et al. 2008

Marine Habitat Mapping Technology for Alaska

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show abstract

“…From this type of data, observerspecific correction factors can be established to improve survey results. Kocak et al (2002) have combined a multiple-laser/ video photogrammetric system with navigation for use in quantitative benthic surveys from Delta. The system includes a roll/pitch motion reference sensor, CCD video camera, three microlasers, a DVL, ring laser gyro, USBL sonar, and integrated positioning system software.…”

Section: Description Of Survey Techniquesmentioning

confidence: 99%

Twenty Years of Research on Demersal Communities Using the Delta Submersible in the Northeast Pacific

Yoklavich¹,

O'Connell²

2008

Marine Habitat Mapping Technology for Alaska

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Visual surveys of demersal fishes and their associated habitats are being conducted regularly in deep water (i.e., 30-365 m) off Alaska and the West Coast of North America by numerous research groups using quantitative transect methods from the research submersible Delta. The use of Delta has been applied primarily to the characterization of fish habitats, with increasing applications to improve stock assessments, evaluate gear impacts, and identify new species. Using Delta is no longer an unproven concept, but rather an accepted survey tool as demonstrated in more than 85 peerreviewed publications since 1988. Maps of seafloor substrata and bathymetric data are commonly used to identify and quantify survey sites, which serves both to increase the costeffectiveness of the submersible and provide the frame within which to distribute sampling effort. In turn, direct observations from Delta can be used to validate the interpretation of such habitat maps. Values that are commonly measured or estimated during Delta dives include the number and length of organisms, distance to a fish, and distance along a transect, from which habitat-specific species density, total abundance, and biomass can be calculated. In this paper we review the research that has been conducted using Delta during the last twenty years, and consider some potential sources of methodological bias as well as the advantages and some strategies for conducting visual surveys using Delta.

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“…It enables the estimation of range and size of objects from direct scaling of the position of the light spots on the image. An underwater photogrammetric system using several sensors to provide precision navigation for benthic surveys is described in Kocak et al (2002Kocak et al ( , 2004. One of them, the ring laser gyroscope, made for measuring pitch/roll motions is integrated in a custom software package which establishes the scale reference from the projections of the three beam laser system.…”

Section: Introductionmentioning

confidence: 99%

Automatic scale estimation of structure from motion based 3D models using laser scalers in underwater scenarios

Istenič

Gracias

Arnaubec

et al. 2020

ISPRS Journal of Photogrammetry and Remote Sensing

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A B S T R A C TRecent advances in structure-from-motion techniques are enabling many scientific fields to benefit from the routine creation of detailed 3D models. However, for a large number of applications, only a single camera is available for the image acquisition, due to cost or space constraints in the survey platforms. Monocular structure-from-motion raises the issue of properly estimating the scale of the 3D models, in order to later use those models for metrology. The scale can be determined from the presence of visible objects of known dimensions, or from information on the magnitude of the camera motion provided by other sensors, such as GPS.This paper addresses the problem of accurately scaling 3D models created from monocular cameras in GPS-denied environments, such as in underwater applications. Motivated by the common availability of underwater laser scalers, we present two novel approaches which are suitable for different laser scaler configurations. A fully-calibrated method enables the use of arbitrary laser setups, while a partially-calibrated method reduces the need for calibration by only assuming parallelism on the laser beams, with no constraints on the camera. The proposed methods have several advantages with respect to the existing methods. By using the known geometry of the scene expressed by the 3D model, along with some parameters of the laser scaler geometry, the need for laser alignment with the optical axis of the camera is removed. Furthermore, the extremely error-prone manual identification of image points on the 3D model, currently required in image-scaling methods, is eliminated as well.The performance of the methods and their applicability was evaluated on both data generated from a realistic 3D model and data collected during an oceanographic cruise in 2017. Three separate laser configurations have been tested, encompassing nearly all possible laser setups, to evaluate the effects of terrain roughness, noise, camera perspective angle and camera-scene distance on the final estimates of scale. In the real scenario, the computation of 6 independent model scale estimates using our fullycalibrated approach, produced values with standard deviation of 0.3%. By comparing the values to the only possible method usable for this dataset, we showed that the consistency of scales obtained for individual lasers is much higher for our approach (0.6% compared to 4%).

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Laser projection photogrammetry and video system for quantification and mensuration

Cited by 9 publications

References 7 publications

Conducting Visual Surveys with a Small ROV in Shallow Water

Conducting Visual Surveys with a Small ROV in Shallow Water

Twenty Years of Research on Demersal Communities Using the Delta Submersible in the Northeast Pacific

Automatic scale estimation of structure from motion based 3D models using laser scalers in underwater scenarios

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