Underwater reconstruction using depth sensors

Dancu, Alexandru; Fourgeaud, Mickaël; Franjcic, Zlatko; Avetisyan, Razmik

doi:10.1145/2669024.2669042

Cited by 24 publications

(8 citation statements)

References 16 publications

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“…The use of infrared projectors, such as Kinect, has also been tested underwater [ 75 ]. The attempt confirmed that the absorption of the infrared spectrum is too strong to reach distances greater than a few centimeters.…”

Section: Sensors and Technologiesmentioning

confidence: 99%

Optical Sensors and Methods for Underwater 3D Reconstruction

Massot-Campos

Oliver-Codina

2015

Sensors

133

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This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has been reviewed, and a classification has been proposed for the existing solutions. New developments, commercial solutions and previous reviews in this topic have also been gathered and considered.

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Section: Sensors and Technologiesmentioning

confidence: 99%

Optical Sensors and Methods for Underwater 3D Reconstruction

Massot-Campos

Oliver-Codina

2015

Sensors

133

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“…The base algorithm used in this work is an implementation of KinectFusion [ 15 ], a real-time 3D mapping and tracking method developed for use with the Microsoft Kinect and similar RGBD sensors. Although there has been some research done on using range sensors in water [ 37 , 38 ], the results have been of very limited practical use due to difficulties in dealing with light refraction and attenuation, which means that even in good visibility the maximum achievable range is about 20 cm. To overcome this limitation, the work presented in this paper relies on two synchronised colour cameras producing a stereoscopic image pair for disparity estimation.…”

Section: Algorithmmentioning

confidence: 99%

Real-Time Underwater StereoFusion

Rossi

Trslić

Sivčev

et al. 2018

Sensors

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Many current and future applications of underwater robotics require real-time sensing and interpretation of the environment. As the vast majority of robots are equipped with cameras, computer vision is playing an increasingly important role it this field. This paper presents the implementation and experimental results of underwater StereoFusion, an algorithm for real-time 3D dense reconstruction and camera tracking. Unlike KinectFusion on which it is based, StereoFusion relies on a stereo camera as its main sensor. The algorithm uses the depth map obtained from the stereo camera to incrementally build a volumetric 3D model of the environment, while simultaneously using the model for camera tracking. It has been successfully tested both in a lake and in the ocean, using two different state-of-the-art underwater Remotely Operated Vehicles (ROVs). Ongoing work focuses on applying the same algorithm to acoustic sensors, and on the implementation of a vision based monocular system with the same capabilities.

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“…However, due to the infrared wavelength of the laser pattern projector the achievable range is limited to less than 30 cm (Dancu et al, 2014). Fringe projection has been applied successfully to acquire very detailed scans with high precision of small underwater objects (Törnblom, 2010;Bräuer-Burchardt et al, 2015).…”

Section: Underwater Laser Scanningmentioning

confidence: 99%

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

Bleier

Nüchter

2017

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

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ABSTRACT:In-situ calibration of structured light scanners in underwater environments is time-consuming and complicated. This paper presents a self-calibrating line laser scanning system, which enables the creation of dense 3D models with a single fixed camera and a freely moving hand-held cross line laser projector. The proposed approach exploits geometric constraints, such as coplanarities, to recover the depth information and is applicable without any prior knowledge of the position and orientation of the laser projector. By employing an off-the-shelf underwater camera and a waterproof housing with high power line lasers an affordable 3D scanning solution can be built. In experiments the performance of the proposed technique is studied and compared with 3D reconstruction using explicit calibration. We demonstrate that the scanning system can be applied to above-the-water as well as underwater scenes.

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Underwater reconstruction using depth sensors

Cited by 24 publications

References 16 publications

Optical Sensors and Methods for Underwater 3D Reconstruction

Optical Sensors and Methods for Underwater 3D Reconstruction

Real-Time Underwater StereoFusion

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

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