Underwater three-dimensional reconstruction device and method based on structured light technology and photometric stereo technology

Abstract

The invention relates to an underwater three-dimensional reconstruction device and method based on a structured light technology and a photometric stereo technology. The underwater three-dimensional reconstruction device provided by the invention comprises a cuboid-shaped frame, wherein a sliding rail is arranged at the top of the cuboid-shaped frame, a laser transmitter and a high-definition camera are arranged on the sliding rail, a rotatable circular sliding rail is arranged below the sliding rail, and the light ray pattern of the laser is a line pattern. At least six LED parallel shiny side light source lamps are arranged on the circular sliding rail and are white light lamps, and spaces between every two adjacent LED parallel shiny side light source lamps are equal. The underwater three-dimensional reconstruction device provided by the invention can carry out underwater laser structured light three-dimensional reconstruction and underwater photometric stereo three-dimensional reconstruction. The underwater three-dimensional reconstruction method provided by the invention comprises the following steps: calibrating equipment in the device and water quality conditions, detecting a target object in a target water area, namely carrying out laser structured light detection, photometric stereo detection and fusion of two detection results, and realizing high-accuracy three-dimensional imaging of the target area. The underwater reconstruction device and method provided by the invention can realize multiple underwater reconstruction methods; and compared with the previous methods, the object boundary restoring accuracy is greatly improved, and more accurate three-dimensional information is obtained.

Description

technical field [0001] The invention relates to an underwater three-dimensional reconstruction device and method based on structured light technology and photometric stereo technology, which can realize various underwater three-dimensional high-precision reconstruction methods, and belongs to the field of underwater vision technology. Background technique [0002] Underwater 3D imaging technology is an important technology for exploring the ocean, and it can be used in the fields of submarine topography and landform detection, submarine archaeology, and marine biological research. At present, sonar is mainly used as the main detection technology, but its accuracy is low, which cannot meet the needs of accurate underwater detection. At present, many researchers focus on the research of underwater optical detection. [0003] The ocean environment is complex, and seawater absorbs and scatters light during propagation, which adversely affects optical imaging. The existing unde...

AI Technical Summary

Problems solved by technology

Underwater scanning imaging equipment based on laser structured light can collect images while moving, and can generate regional three-dimensional structures, but the scanning method cannot cover all target pixels, and the reconstruction result is a sparse and discrete point cloud, and the imaging density is not high.

Equipment based on binocular 3D imaging technology, combined with inertial sensors, can generate a relatively complete underwater 3D structure, but the matching points of the underwater environment are prone to errors, resulting in low reconstruction accuracy

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