Calibration technique for underwater active oneshot scanning system with static pattern projector and multiple cameras

Hiroshi Kawasaki, Hideaki Nakai, Hirohisa Baba, Ryusuke Sagawa, Ryo Furukawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Underwater 3D shape scanning technique becomes popular because ofseveral rising research topics, such as map making ofsubmarine topography for autonomous underwater vehicle (UAV), shape measurement of live fish, motion capture of swimming human, etc. Structured light systems (SLS) based active 3D scanning systems are widely used in the air and also promising to apply underwater environment. When SLS is used in the air, the stereo correspondences can be efficiently retrieved by epipolar constraint. However, in the underwater environment, the camera and projector are usually set in special housings and refraction occurs at the interfaces between water/glass and glass/air, resulting in invalid conditions for epipolar constraint which severely deteriorates the correspondence search process. In this paper, we propose an efficient technique to calibrate the underwater SLS systems as well as robust 3D shape acquisition technique. In order to avoid the calculation complexity, we approximate the system with central projection model. Although such an approximation produces an inevitable errors in the system, such errors are diminished by a combination of grid based SLS technique and a bundle adjustment algorithm. We tested our method with a real underwater SLS, consisting ofcustom-made laser pattern projector and underwater housings, showing the validity ofour method.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE Winter Conference on Applications of Computer Vision, WACV 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages302-310
Number of pages9
ISBN (Electronic)9781509048229
DOIs
Publication statusPublished - May 11 2017
Externally publishedYes
Event17th IEEE Winter Conference on Applications of Computer Vision, WACV 2017 - Santa Rosa, United States
Duration: Mar 24 2017Mar 31 2017

Publication series

NameProceedings - 2017 IEEE Winter Conference on Applications of Computer Vision, WACV 2017

Other

Other17th IEEE Winter Conference on Applications of Computer Vision, WACV 2017
CountryUnited States
CitySanta Rosa
Period3/24/173/31/17

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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    Kawasaki, H., Nakai, H., Baba, H., Sagawa, R., & Furukawa, R. (2017). Calibration technique for underwater active oneshot scanning system with static pattern projector and multiple cameras. In Proceedings - 2017 IEEE Winter Conference on Applications of Computer Vision, WACV 2017 (pp. 302-310). [7926623] (Proceedings - 2017 IEEE Winter Conference on Applications of Computer Vision, WACV 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WACV.2017.40