This paper presents a camera-laser scanner system for underwater ranging and preliminary results of three-dimensional (3D) object recognition. Calibration between the camera and the laser is necessary to obtain precise 3D information. To accomplish this, we adopted a triangulation-based method proposed by Forest and Collado (New methods for triangulation-based shape acquisition using laser scanners. Univeritat de Girona, 2004 [1]) and designed a simple image processing sequence to detect a projected laser line on the image. Using precise ranging measurement from laser scanner, underwater 3D objects were reconstructed and recognized in virtual 3D space. To verify the performance of a laser scanner and the 3D recognition, we performed an experiment in a water tank.
CITATION STYLE
Lee, Y., Lee, Y., Chae, J., Choi, H. T., & Yeu, T. K. (2020). Preliminary Results on Underwater Object Recognition with a Laser Scanner for Unmanned Underwater Vehicle. In Lecture Notes in Mechanical Engineering (pp. 437–444). Pleiades Publishing. https://doi.org/10.1007/978-981-13-8323-6_37
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