ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2, 287-294, 2018
https://doi.org/10.5194/isprs-annals-IV-2-287-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
 
28 May 2018
STRUCTURED-LIGHT BASED 3D LASER SCANNING OF SEMI-SUBMERGED STRUCTURES
J. van der Lucht1, M. Bleier1, F. Leutert1, K. Schilling1,2, and A. Nüchter1,2 1Zentrum für Telematik e.V., Würzburg, Germany
2Informatics VII – Robotics and Telematics, Julius Maximilian University of Würzburg, Germany
Keywords: underwater laser scanning, refractive correction, structured light, 3D reconstruction Abstract. In this work we look at 3D acquisition of semi-submerged structures with a triangulation based underwater laser scanning system. The motivation is that we want to simultaneously capture data above and below water to create a consistent model without any gaps. The employed structured light scanner consist of a machine vision camera and a green line laser. In order to reconstruct precise surface models of the object it is necessary to model and correct for the refraction of the laser line and camera rays at the water-air boundary. We derive a geometric model for the refraction at the air-water interface and propose a method for correcting the scans. Furthermore, we show how the water surface is directly estimated from sensor data. The approach is verified using scans captured with an industrial manipulator to achieve reproducible scanner trajectories with different incident angles. We show that the proposed method is effective for refractive correction and that it can be applied directly to the raw sensor data without requiring any external markers or targets.
Conference paper (PDF, 4111 KB)

Citation: van der Lucht, J., Bleier, M., Leutert, F., Schilling, K., and Nüchter, A.: STRUCTURED-LIGHT BASED 3D LASER SCANNING OF SEMI-SUBMERGED STRUCTURES, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2, 287-294, https://doi.org/10.5194/isprs-annals-IV-2-287-2018, 2018.

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