Scout3d – An Underwater Laser Scanning System for Mobile Mapping

Bleier, M.; Lucht, Jens; Nüchter, Andreas

doi:10.5194/isprs-archives-xlii-2-w18-13-2019

Cited by 15 publications

(9 citation statements)

References 8 publications

(6 reference statements)

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“…A direct approach is embedding an inertial sensor such as an inertial measurement unit (IMU) [25,26] or an INS [27][28][29] with the laser scanner. On the one hand, IMUs are relatively small and cheap sensors but their measurements are drift-prone.…”

Section: A Underwater 3d Laser Line Scanningmentioning

confidence: 99%

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Extrinsic Visual–Inertial Calibration for Motion Distortion Correction of Underwater 3D Scans

Castillón

Palomeras

et al. 2021

IEEE Access

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Underwater 3D laser scanners are an essential type of sensor used by unmanned underwater vehicles (UUVs) for operations such as navigation, inspection, and object recognition and manipulation. Scanners that acquire 3D data by sweeping a laser plane across the scene can provide very high lateral resolution. However, their data may suffer from rolling shutter effect if the change of pose of the robot with respect to the scanned target during the sweep is not negligible. In order to compensate for motion-related distortions without the need for point cloud postprocessing, the 6-DoF pose at which the scanner acquires each line needs to be accurately known. In the underwater domain, autonomous vehicles are often equipped with a highend inertial navigation system (INS) that provides reliable navigation data. Nonetheless, the relative pose of the 3D scanner with respect to the inertial reference frame of the robot is not usually known a priori. Therefore, this paper uses an ego-motion-based calibration algorithm to calibrate the extrinsic parameters of the visual-inertial sensor pair. Simulations are performed to quantify how miscalibration affects motionrelated distortion. The method is also evaluated experimentally in laboratory conditions.

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Section: A Underwater 3d Laser Line Scanningmentioning

confidence: 99%

“…On the one hand, IMUs are relatively small and cheap sensors but their measurements are drift-prone. A possible solution to counteract this drift is using GPS [25]. However, since GPS signal is rapidly attenuated in water, it can only be used on surface.…”

Section: A Underwater 3d Laser Line Scanningmentioning

confidence: 99%

Extrinsic Visual–Inertial Calibration for Motion Distortion Correction of Underwater 3D Scans

Castillón

Palomeras

et al. 2021

IEEE Access

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“…The system’s cross-line laser pattern enables an unrestricted scanning motion. However, it is important to note that this system is limited to shallow water detection within the range of 5–10 m. Additionally, the system’s GNSS antenna, located near the lid, provides a low level of localization accuracy, which can result in errors [ 28 ]. In the pursuit of investigating an algorithm for compensating underwater refraction errors, one approach is to make modifications to the existing method in order to minimize errors [ 29 ].…”

Section: Introductionmentioning

confidence: 99%

A Study on Refraction Error Compensation Method for Underwater Spinning Laser Scanning Three-Dimensional Imaging

Zhang,

Wang,

Zhang

et al. 2024

Sensors

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Laser scanning 3D imaging technology, because it can obtain accurate three-dimensional surface data, has been widely used in the search for wrecks and rescue operations, underwater resource development, and other fields. At present, the conventional underwater spinning laser scanning imaging system maintains a relatively fixed light window. However, in low-light situations underwater, the rotation of the scanning device causes some degree of water fluctuation, which warps the light strip data that the system sensor receives about the object’s surface. To solve this problem, this research studies an underwater 3D scanning and imaging system that makes use of a fixed light window and a spinning laser (FWLS). A refraction error compensation algorithm is investigated that is based on the fundamentals of linear laser scanning imaging, and a dynamic refraction mathematical model is established based on the motion of the imaging device. The results of the experiment on error analysis in an optimal underwater environment indicate that the error in reconstructing the radius is decreased by 60% (from 2.5 mm to around 1 mm) when compensating for the measurement data of a standard sphere with a radius of 20 mm. Moreover, the compensated point cloud data exhibit a higher degree of correspondence with the model of the standard spherical point cloud. Furthermore, we examine the impact of physical noise, measurement distance, and partial occlusion of the object on the imaging system inside an authentic underwater setting. This study is a good starting point for looking at the refractive error of an underwater laser scanning imaging system. It also provides to us some ideas for future research on the refractive error of other scanning imaging methods.

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“…Afterwards, the camera captures the laser stripe and extracts the center of the laser stripe. Finally, the system converts the light strip pixel information into physical information based on the laser plane equation and camera parameters and fits these 3D point cloud to obtain the 3D shape of the object [ 13 , 14 , 15 , 16 ].…”

Section: Introductionmentioning

confidence: 99%

A Three-Dimensional Structured Light Vision System by Using a Combination of Single-Line and Three-Line Lasers

Sun

Ren

Zhu

et al. 2022

Sensors

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A multi-line structured light measurement method that combines a single-line and a three-line laser, in which precision sliding rails and displacement measurement equipment are not required, is proposed in this paper. During the measurement, the single-line structured light projects onto the surface of an object and the three-line structured light remains fixed. The single-line laser is moved and intersects with the three-line laser to form three intersection points. The single-line light plane can be solved using the camera coordinates of three intersection points, thus completing the real-time calibration of the scanned light plane. The single-line laser can be scanned at any angle to determine the overall complete three-dimensional (3D) shape of the object during the process. Experimental results show that this method overcomes the difficulty of obtaining information about certain angles and locations and can effectively recover the 3D shape of the object. The measurement system’s repetition error is under 0.16 mm, which is sufficient to measure the 3D shapes of complicated workpieces.

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Scout3d – An Underwater Laser Scanning System for Mobile Mapping

Cited by 15 publications

References 8 publications

Extrinsic Visual–Inertial Calibration for Motion Distortion Correction of Underwater 3D Scans

Extrinsic Visual–Inertial Calibration for Motion Distortion Correction of Underwater 3D Scans

A Study on Refraction Error Compensation Method for Underwater Spinning Laser Scanning Three-Dimensional Imaging

A Three-Dimensional Structured Light Vision System by Using a Combination of Single-Line and Three-Line Lasers

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