Underwater 3-D imaging with laser triangulation
The objective of this master thesis was to study the performance of an active triangulation system for 3-D imaging in underwater applications. Structured light from a 20 mW laser and a conventional video camera was used to collect data for generation of 3-D images. Different techniques to locate the...
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Linköpings universitet, Bildbehandling
2006
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ndltd-UPSALLA1-oai-DiVA.org-liu-61252018-01-14T05:13:19ZUnderwater 3-D imaging with laser triangulationengNorström, ChristerLinköpings universitet, BildbehandlingLinköpings universitet, Tekniska högskolanInstitutionen för systemteknik2006Lasertrianguleringstrukturerat ljus3-D avbildningundervattensavbildninglaserlinjeComputer Vision and Robotics (Autonomous Systems)Datorseende och robotik (autonoma system)The objective of this master thesis was to study the performance of an active triangulation system for 3-D imaging in underwater applications. Structured light from a 20 mW laser and a conventional video camera was used to collect data for generation of 3-D images. Different techniques to locate the laser line and transform it into spatial coordinates were developed and evaluated. A field- and a laboratory trial were performed. From the trials we can conclude that the distance resolution is much higher than the lateral- and longitudinal resolution. The lateral resolution can be improved either by using a high frame rate camera or simply by using a low scanning speed. It is possible to obtain a range resolution of less than a millimeter. The maximum range of vision was 5 meters under water measured on a white target and 3 meters for a black target in clear sea water. These results are however dependent on environmental and system parameters such as laser power, laser beam divergence and water turbidity. A higher laser power would for example increase the maximum range. Student thesisinfo:eu-repo/semantics/bachelorThesistexthttp://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-6125application/pdfinfo:eu-repo/semantics/openAccess |
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English |
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Others
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Lasertriangulering strukturerat ljus 3-D avbildning undervattensavbildning laserlinje Computer Vision and Robotics (Autonomous Systems) Datorseende och robotik (autonoma system) |
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Lasertriangulering strukturerat ljus 3-D avbildning undervattensavbildning laserlinje Computer Vision and Robotics (Autonomous Systems) Datorseende och robotik (autonoma system) Norström, Christer Underwater 3-D imaging with laser triangulation |
description |
The objective of this master thesis was to study the performance of an active triangulation system for 3-D imaging in underwater applications. Structured light from a 20 mW laser and a conventional video camera was used to collect data for generation of 3-D images. Different techniques to locate the laser line and transform it into spatial coordinates were developed and evaluated. A field- and a laboratory trial were performed. From the trials we can conclude that the distance resolution is much higher than the lateral- and longitudinal resolution. The lateral resolution can be improved either by using a high frame rate camera or simply by using a low scanning speed. It is possible to obtain a range resolution of less than a millimeter. The maximum range of vision was 5 meters under water measured on a white target and 3 meters for a black target in clear sea water. These results are however dependent on environmental and system parameters such as laser power, laser beam divergence and water turbidity. A higher laser power would for example increase the maximum range. |
author |
Norström, Christer |
author_facet |
Norström, Christer |
author_sort |
Norström, Christer |
title |
Underwater 3-D imaging with laser triangulation |
title_short |
Underwater 3-D imaging with laser triangulation |
title_full |
Underwater 3-D imaging with laser triangulation |
title_fullStr |
Underwater 3-D imaging with laser triangulation |
title_full_unstemmed |
Underwater 3-D imaging with laser triangulation |
title_sort |
underwater 3-d imaging with laser triangulation |
publisher |
Linköpings universitet, Bildbehandling |
publishDate |
2006 |
url |
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-6125 |
work_keys_str_mv |
AT norstromchrister underwater3dimagingwithlasertriangulation |
_version_ |
1718610762633576448 |