Underwater Laser Scanner: Ray-Based Model and Calibration
Underwater 3-D perception is crucial for autonomous manipulation and mapping. Using a mirror-galvanometer system to steer a laser line projector and using triangulation with a camera it is possible to produce full 3-D perception, while avoiding moving the sensor with respect to the scene. This paper...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| Repositorio: | Recercat. Dipósit de la Recerca de Catalunya |
| OAI Identifier: | oai:recercat.cat:10256/23629 |
| Acceso en línea: | http://hdl.handle.net/10256/23629 |
| Access Level: | acceso abierto |
| Palabra clave: | Imatgeria (Tècnica) Imaging systems Triangulació Triangulation Visualització tridimensional (Informàtica) Three-dimensional display systems Lectors òptics Optical scanners |
| Sumario: | Underwater 3-D perception is crucial for autonomous manipulation and mapping. Using a mirror-galvanometer system to steer a laser line projector and using triangulation with a camera it is possible to produce full 3-D perception, while avoiding moving the sensor with respect to the scene. This paper presents a ray-based model of a laser scanner and a calibration method for such a model. The model takes into account the distortion introduced to the system by the flat viewports used for both the laser and the camera. The paper also introduces the computation of elliptical cones as a way to synthesize the ray-based model and speed up the triangulation computation. The present study reports results obtained using the real sensor in a water tank to reconstruct objects and planes to assess the sensor's accuracy, as well as a comparison between the two triangulation methods (ray-based and elliptical cone) |
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