Low-Cost 3d Laser Scanning in Air Orwater Using Self-Calibrating
Structured Light

Bleier, M.; Nüchter, Andreas

doi:10.5194/isprs-archives-xlii-2-w3-105-2017

Cited by 24 publications

(15 citation statements)

References 23 publications

(30 reference statements)

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“…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.…”

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

“…Bleier and Nüchter [137] developed a self-calibrating hand-held scanner. They projected two crossed line lasers and exploited coplanarity constraints to perform the 3D reconstruction.…”

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

“…Others like sealife monitoring need faster frequencies. Seafloor mapping with non-steered laser line scanners usually have refresh rates of a few tens of hertz for each line (12 Hz [61]–30 Hz [137]). Another very relevant criterion is the number of scanned points per second, which measures the trade-off between point cloud density and refresh rate.…”

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

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State of the Art of Underwater Active Optical 3D Scanners

Castillón

Palomer

Forest

et al. 2019

Sensors

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Underwater inspection, maintenance and repair (IMR) operations are being increasingly robotized in order to reduce safety issues and costs. These robotic systems rely on vision sensors to perform fundamental tasks, such as navigation and object recognition and manipulation. Especially, active optical 3D scanners are commonly used due to the domain-specific challenges of underwater imaging. This paper presents an exhaustive survey on the state of the art of optical 3D underwater scanners. A literature review on light projection and light-sensing technologies is presented. Moreover, quantitative performance comparisons of underwater 3D scanners present in the literature and commercial products are carried out.

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Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

“…Bleier and Nüchter [137] developed a self-calibrating hand-held scanner. They projected two crossed line lasers and exploited coplanarity constraints to perform the 3D reconstruction.…”

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

Section: Quantitative Analysis Of Current Technologiesmentioning

confidence: 99%

See 1 more Smart Citation

State of the Art of Underwater Active Optical 3D Scanners

Castillón

Palomer

Forest

et al. 2019

Sensors

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show abstract

“…Moreover, the acquisition time of a point cloud is long due to the vehicle motion. The literature also presents laser-camera systems where the laser is steered manually (Bleier & Nüchter, 2017), with a robotic arm (Prats, Fernandez, & Sanz, 2012), where the camera and the laser are mounted onto a rotation actuator (2G Robotics, 2018), or where the laser is scanned across the camera image (Chantler, Clark, & Umasuthan, 1997;Kocak, Caimi, Das, & Karson, 1999;Hildebrandt, Kerdels, Albiez, & Kirchner, 2008;Chi, Xie, & Chen, 2016).…”

Section: Related Workmentioning

confidence: 99%

Inspection of an underwater structure using point‐cloud SLAM with an AUV and a laser scanner

Palomer

Ridao

Ribas³

2019

Journal of Field Robotics

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This paper presents experimental results using a newly developed 3D underwater laser scanner mounted on an autonomous underwater vehicle (AUV) for real‐time simultaneous localization and mapping (SLAM). The algorithm consists of registering point clouds using a dual step procedure. First, a feature‐based coarse alignment is performed, which is then refined using iterative closest point. The robot position is estimated using an extended Kalman filter (EKF) that fuses the data coming from navigation sensors of the AUV. Moreover, the pose from where each point cloud was collected is also stored in the pose‐based EKF‐SLAM state vector. The results of the registration algorithm are used as constraint observations among the different poses within the state vector, solving the full‐SLAM problem. The method is demonstrated using the Girona 500 AUV, equipped with a laser scanner and inspecting a 3D sub‐sea infrastructure inside a water tank. Our results prove that it is possible to limit the navigation drift and deliver a consistent high‐accuracy 3D map of the inspected object.

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“…Calibration of these systems is typically achieved using chessboard patterns or 3D calibration fixtures. Some of the parameters can also be determined using self-calibration approaches (Bleier, Nüchter, 2017).…”

Section: Related Workmentioning

confidence: 99%

Scout3d – An Underwater Laser Scanning System for Mobile Mapping

Bleier¹,

Lucht²,

Nüchter³

2019

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

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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.

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Low-Cost 3d Laser Scanning in Air Orwater Using Self-Calibrating Structured Light

Cited by 24 publications

References 23 publications

State of the Art of Underwater Active Optical 3D Scanners

State of the Art of Underwater Active Optical 3D Scanners

Inspection of an underwater structure using point‐cloud SLAM with an AUV and a laser scanner

Scout3d – An Underwater Laser Scanning System for Mobile Mapping

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