One-shot underwater 3D reconstruction

Abstract

A one-shot sensor for underwater 3D reconstruction is presented and tested underwater in a water tank. The system is composed of a RGB CCD camera and a 532 nm green laser with a Diffractive Optical Element attached to it. The laser projects a pattern of parallel lines into the scene. The deformed pattern obtained in the camera frame is then processed to obtain a non-dense 3D point cloud that can be later used for autonomous manipulation and grasping, or for detailed mapping of textureless objects or scenarios.