Underwater high-precision 3D reconstruction device and method

Abstract

The invention relates to an underwater high-precision 3D reconstruction device and method. The device comprises a prismatic frame, the top of the frame is provided with a bar-shaped slide rail, a high-definition camera whose position can be adjusted horizontally is mounted on the slide rail, a laser is fixed to one prism under the slide rail, eight spotlights are fixed to the prismatic frame under the high-definition camera, top points at the top of the prismatic frame are connected to the bottom of a flange via supports respectively, the top of the flange includes a bearing terminal, the top end of the bearing terminal is connected with a main umbilical cable, and the bottom of the bearing terminal includes a branching cable. The method comprises calibrating the laser, calibrating direction of incident light, putting the device into the sea, collecting a laser image of a target object and images under different illumination directions, and carrying out rapid high-precision 3D reconstruction via structural light and photometric technologies after that the images are sent to overwater positions. According to the invention, different underwater reconstruction methods are realized, advantages of photometric technology and structural light method are combined, and a reconstruction result is more accurate.

Description

technical field [0001] The invention relates to an underwater high-precision three-dimensional reconstruction device and method, which uses structured light and photometric stereo methods, and belongs to the technical field of underwater vision. Background technique [0002] At present, the commonly used underwater 3D reconstruction technologies at home and abroad include acoustic imaging methods and optical imaging methods. Acoustic imaging methods mainly use sonar systems, which can estimate the depth information of targets in a large-scale range, but the accuracy is poor, and it is difficult to meet the needs of small-scale reconstruction; optical imaging methods such as structured light, photometric stereo, binocular vision, multi- Angle of view geometric reconstruction technology, etc., can more accurately restore the three-dimensional structure of the object. The difficulty is that compared with underwater sound waves, the model of light propagation is more complex, an...

AI Technical Summary

Problems solved by technology

Acoustic imaging methods mainly use sonar systems, which can estimate the depth information of targets in a large-scale range, but the accuracy is poor, and it is difficult to meet the needs of small-scale reconstruction; optical imaging methods such as structured light, photometric stereo, binocular vision, multi- Angle of view geometric reconstruction technology, etc., can more accurately restore the three-dimensional structure of the object. The difficulty is that compared with underwater sound waves, the model of light propagation is more complex, and factors such as refraction, absorption, and scattering increase the difficulty of direct reconstruction from collected images.

[0003] Most of the existing underwater 3D reconstruction devices are used for the reconstruction of small man-made scenes, and the analysis of the underwater lighting model is relatively simple. For example, if it is applied to a deep sea scene, the hardware puts forward higher requirements for the watertightness and pressure resistance of the equipment. In addition, it is also necessary to make more reasonable corrections and optimizations for the scattering effects of complex environments such as turbid water quality.

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