Underwater 3-D imaging with laser triangulation
Independent thesis Basic level (professional degree), 20 credits / 30 HE creditsStudent thesis
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.
Place, publisher, year, edition, pages
Institutionen för systemteknik , 2006. , 58 p.
Lasertriangulering, strukturerat ljus, 3-D avbildning, undervattensavbildning, laserlinje
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-6125ISRN: LiTH-ISY-EX--06/3851--SEOAI: oai:DiVA.org:liu-6125DiVA: diva2:21659
Subject / course
Computer Vision Laboratory
2006-03-13, Algoritmen, B-huset, Linköping, 00:00
Magnusson Seger, Maria