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Underwater 3-D imaging with laser triangulation
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
2006 (English)Independent thesis Basic level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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.
Keyword [sv]
Lasertriangulering, strukturerat ljus, 3-D avbildning, undervattensavbildning, laserlinje
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:liu:diva-6125ISRN: LiTH-ISY-EX--06/3851--SEOAI: diva2:21659
Subject / course
Computer Vision Laboratory
2006-03-13, Algoritmen, B-huset, Linköping, 00:00
Available from: 2006-03-23 Created: 2006-03-23 Last updated: 2012-07-02

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