Abstract
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.
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Forest J, Collado JF (2004) New methods for triangulation-based shape acquisition using laser scanners, Univeritat de Girona
Bogdan R, Cousins S (2011) 3D is here: Point cloud Library (PCL). In: IEEE international conference on robotics and automation, Shanghai, China
Point Cloud Library (2018) http://pointcloud.org
Acknowledgements
This research was supported by a grand from Endowment Project of “Development of Basic Technologies of 3D Object Reconstruction and Robot-Manipulator Motion Compensation Control for Autonomous Underwater Working” funded by Korea Research Institute of Ships and Ocean Engineering (KRISO, PES9400).
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Lee, Y., Lee, Y., Chae, J., Choi, HT., Yeu, TK. (2020). Preliminary Results on Underwater Object Recognition with a Laser Scanner for Unmanned Underwater Vehicle. In: P. P. Abdul Majeed, A., Mat-Jizat, J., Hassan, M., Taha, Z., Choi, H., Kim, J. (eds) RITA 2018. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-13-8323-6_37
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DOI: https://doi.org/10.1007/978-981-13-8323-6_37
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