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Towards an Underwater 3 D Laser Scanning System for Mobile Mapping
| Content Provider | Semantic Scholar |
|---|---|
| Author | Bleier, Michael Lucht, Joschka Van Der Nüchter, Andreas |
| Copyright Year | 2019 |
| Abstract | Digitizing archaeological or industrial sites on land using standard methods of photogrammetry like 3D modeling from photos or laser scanning is well understood. In contrast, precise underwater surveying with high resolution is still a complex and difficult task. In this paper, we present the development and construction of a structured light underwater laser scanning system and show first results on applying the system for mobile scanning in the water. The laser scanner employs two line lasers to project a cross on the scene. This enables mobile scanning in multiple directions and provides an overlapping scan pattern, which is exploited for trajectory optimization. We describe the image processing, calibration and 3D reconstruction methods used for creating point clouds using the system. In experiments conducted in a towing tank we demonstrate 3D scans captured by rotating the scanner on a robotic joint and first results of mobile scans acquired by moving the scanner through the water along a linear trajectory. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://robotik.informatik.uni-wuerzburg.de/telematics/download/icraurp2019.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
