Underwater three-dimensional imaging laser sensor with 120-deg wide-scanning angle using the combination of a dome lens and coaxial optics

Imaki, Masaharu; Ochimizu, Hideaki; Tsuji, Hiroyuki; Kameyama, Shumpei; Saito, Takashi; Ishibashi, Shojiro; Yoshida, Hiroshi

doi:10.1117/1.oe.56.3.031212

Cited by 13 publications

(13 citation statements)

References 8 publications

(8 reference statements)

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“…Recent improvements on colour correction approaches for underwater 3D reconstructions, which make use of the 3D structural information, will also greatly improve model quality and may allow for colours to be more reliably utilized in automated classifications 49 . Developments associated with laser scanners on underwater vehicles will soon provide even more tools to complement those presented in this study 50 , 51 .…”

Section: Discussionmentioning

confidence: 94%

New approaches to high-resolution mapping of marine vertical structures

Robert

Huvenne

Georgiopoulou

et al. 2017

Sci Rep

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Vertical walls in marine environments can harbour high biodiversity and provide natural protection from bottom-trawling activities. However, traditional mapping techniques are usually restricted to down-looking approaches which cannot adequately replicate their 3D structure. We combined sideways-looking multibeam echosounder (MBES) data from an AUV, forward-looking MBES data from ROVs and ROV-acquired videos to examine walls from Rockall Bank and Whittard Canyon, Northeast Atlantic. High-resolution 3D point clouds were extracted from each sonar dataset and structure from motion photogrammetry (SfM) was applied to recreate 3D representations of video transects along the walls. With these reconstructions, it was possible to interact with extensive sections of video footage and precisely position individuals. Terrain variables were derived on scales comparable to those experienced by megabenthic individuals. These were used to show differences in environmental conditions between observed and background locations as well as explain spatial patterns in ecological characteristics. In addition, since the SfM 3D reconstructions retained colours, they were employed to separate and quantify live coral colonies versus dead framework. The combination of these new technologies allows us, for the first time, to map the physical 3D structure of previously inaccessible habitats and demonstrates the complexity and importance of vertical structures.

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Section: Discussionmentioning

confidence: 94%

New approaches to high-resolution mapping of marine vertical structures

Robert

Huvenne

Georgiopoulou

et al. 2017

Sci Rep

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“…Their main disadvantage is their fragility and extremely high sensitivity to ambient light, which can damage the device irreversibly. They have been used in underwater robotics [81,82]. SiPMs are composed of multiple single-photon avalanche photodiodes (SPADs), which are APDs in Geiger mode aimed at detecting single photons [83].…”

Section: 3d Reconstruction Methods For Active Optical Sensorsmentioning

confidence: 99%

“…Their main disadvantage is their fragility and extremely high sensitivity to ambient light, which can damage the device irreversibly. They have been used in underwater robotics [81,82].…”

Section: 3d Reconstruction Methods For Active Optical Sensorsmentioning

confidence: 99%

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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“…For example, the company "3D at Depth" developed a commercial underwater LiDAR, which can be mounted on a pan-an-tilt unit to create 3D scans of underwater environments similar to terrestrial laser scanning (3D at Depth, 2016). A recently proposed scanning system by Mitsubishi uses a dome port with the scanner aligned in the optical center to achieve a wider field of view (Imaki et al, 2017).…”

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 three-dimensional imaging laser sensor with 120-deg wide-scanning angle using the combination of a dome lens and coaxial optics

Cited by 13 publications

References 8 publications

New approaches to high-resolution mapping of marine vertical structures

New approaches to high-resolution mapping of marine vertical structures

State of the Art of Underwater Active Optical 3D Scanners

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

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