3D mapping of the seafloor in color using a single camera
3D mapping of the seafloor in color using a single camera
A new method of 3D seafloor mapping in actual color suitable for application on an AUV or ROV has been developed and implemented. The proposed algorithm uses image and navigation data collected at low altitudes by an autonomous underwater vehicle (AUV) or a remotely operated vehicle (ROV). A color camera is mounted a certain distance away from the sheet laser. A light is used to illuminate only part of the camera's field of view so that the seafloor directly underneath the camera is lit. A shade is used to ensure that the area surrounding the laser line projection remains dark, guaranteeing that the laser line projection appears with a strong contrast in the video, which makes its extraction more accurate. The 3D map can then be viewed from any angle, and it is possible to zoom in to show details of the map, as well as directly measure dimensions within the map.
51-53
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
689db479-1520-4f32-bb7a-ed34b26b921f
1 December 2010
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9
Ura, Tamaki
689db479-1520-4f32-bb7a-ed34b26b921f
Bodenmann, Adrian, Thornton, Blair and Ura, Tamaki
(2010)
3D mapping of the seafloor in color using a single camera.
Sea Technology, 51 (12), .
Abstract
A new method of 3D seafloor mapping in actual color suitable for application on an AUV or ROV has been developed and implemented. The proposed algorithm uses image and navigation data collected at low altitudes by an autonomous underwater vehicle (AUV) or a remotely operated vehicle (ROV). A color camera is mounted a certain distance away from the sheet laser. A light is used to illuminate only part of the camera's field of view so that the seafloor directly underneath the camera is lit. A shade is used to ensure that the area surrounding the laser line projection remains dark, guaranteeing that the laser line projection appears with a strong contrast in the video, which makes its extraction more accurate. The 3D map can then be viewed from any angle, and it is possible to zoom in to show details of the map, as well as directly measure dimensions within the map.
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Published date: 1 December 2010
Identifiers
Local EPrints ID: 434068
URI: http://eprints.soton.ac.uk/id/eprint/434068
ISSN: 0093-3651
PURE UUID: acbe3d31-f506-4402-bfd6-0263527dd36d
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Date deposited: 11 Sep 2019 16:30
Last modified: 18 Mar 2024 03:43
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Author:
Tamaki Ura
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