Underwater Target 3D Reconstruction via Integrated Laser Triangulation and Multispectral Photometric Stereo

Abstract

With the gradual application of 3D reconstruction technology in underwater scenes, the design of vision-based reconstruction models has become an important research direction for human ocean exploration and development. The underwater laser triangulation method is the most commonly used approach, yet it misses details during the reconstruction of sparse point clouds, which do not meet the requirements of practical applications. On the other hand, existing underwater photometric stereo methods can accurately reconstruct local details of target objects, but they require relative stillness to be maintained between the camera and the target, which is practically difficult to achieve in underwater imaging environments. In this paper, we propose an underwater target reconstruction algorithm that combines laser triangulation and multispectral photometric stereo (MPS) to address the aforementioned practical problems in underwater 3D reconstruction.This algorithm can obtain more comprehensive 3D surface data of underwater objects through mobile measurement. At the same time, we propose to optimize the laser place calibration and laser line separation processes, further improving the reconstruction performance of underwater laser triangulation and multispectral photometric stereo. The experimental results show that our method achieves higher-precision and higher-density 3D reconstruction than current state-of-the-art methods.