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Underwater 3D reconstruction device and method based on structured light technology and photometric stereo technology

A photometric stereo and 3D reconstruction technology, applied in stereo photography, optics, 3D modeling, etc., can solve the problems that the scanning method cannot cover the target pixels, the matching points of the underwater environment are prone to errors, and the imaging density is low, etc. The effect of restoring accuracy, avoiding excessive accumulated error, and accurate 3D information

Active Publication Date: 2018-05-15
OCEAN UNIV OF CHINA
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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

Method used

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  • Underwater 3D reconstruction device and method based on structured light technology and photometric stereo technology
  • Underwater 3D reconstruction device and method based on structured light technology and photometric stereo technology
  • Underwater 3D reconstruction device and method based on structured light technology and photometric stereo technology

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Embodiment

[0076] The device of the invention can be used in conjunction with a 1m×1m water tank. Adjust the foot cups to adjust the height of the stand. The image acquisition device is a high-definition camera, which is perpendicular to the water surface along the lens direction and fixed in the center of the entire device.

[0077] In this device, the camera and the laser are located at the same height, and the laser and the camera are connected to the equipment circuit control box, which can be controlled independently or by the host computer. The laser transmitter and the camera are fixed at the same height, the angle of the laser beam entering the water can be adjusted freely, and the light pattern is a straight line pattern. Usually keep the laser line in the middle of the image captured by the camera. The laser chooses a product with high power and extremely fine line patterns. The combination of laser and image acquisition device can realize the underwater laser structured lig...

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Abstract

The underwater three-dimensional reconstruction device and method based on structured light technology and photometric stereo technology, including a cuboid frame with a slide rail on the top, a laser emitter and a high-definition camera are installed on the slide rail, and there is a rotatable circular shape below the slide rail Slide rail, the light pattern of the laser is a line pattern. The circular slide rail is provided with at least six LED parallel light source lamps, all of which are white lights, and every two adjacent LED parallel light source lamps are equidistant from each other. The above-mentioned device can carry out underwater laser structured light three-dimensional reconstruction and underwater photometric three-dimensional three-dimensional reconstruction. The method includes: calibrating various equipment and water quality conditions in the device, detecting target objects in the target water area, respectively, laser structured light detection, photometric three-dimensional detection, and fusion of the two detection results to achieve high-precision three-dimensional imaging of the target area. The invention can realize various underwater reconstruction methods. Compared with previous methods, it greatly improves the recovery accuracy of object boundaries and obtains more accurate 3D information.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G03B35/02
CPCG03B35/02G06T17/00
Inventor 范浩董军宇亓琳王楠矫恒超夏一帆
Owner OCEAN UNIV OF CHINA
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