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The initial study of LLS-based binocular stereo-vision system on underwater 3D image reconstruction in the laboratory

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Abstract

This study aims to develop a three-dimensional image reconstruction method based on the Laser Line Scan (LLS) technique to establish the binocular stereo-vision system for the preliminary research of obstacle detection technique of Autonomous Underwater Vehicle (AUV). A coordinate mapping relationship between 2D pixel coordinate and 3D world coordinate, which can be used to reconstruct 3D objects from 2D scan data, is established by means of direct camera calibration in air and water. In the experiments, the target object was originally designed by Computer-Aided Design (CAD) model and fabricated by the 3D printer. Subsequently, the qualities of point clouds acquired from the target object would be analyzed and compared in the stability water tank at National Cheng Kung University. The acquired point clouds would be used for polygonal surface estimation of the target object by Bonjean curve fitting method in water, with the reference results in air. The acquisition of raw point clouds has been accessed via the transformation to grayscale, histogram equalization, image binarization and skeletonization thinning. Consequently, the results evaluated by our stereo-vision system indicate the reliability and performance in the stability water tank before the application to the obstacle-avoidance of the AUV.

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Acknowledgements

The authors would like to express their thanks to the National Science Council for a grant under Contract No. MOST 104-2221-E-006-190. The authors also thank the great support for this work provided by Research Center for Energy Technology (RCETS), National Cheng Kung University. The partial support coming from the International Wave Dynamics Research Center (IWDRC), National Cheng Kung University, for a grant under Contract No. MOST 104-2911-I-006-301 is very appreciated. The research was, in part, supported by the Ministry of Education, Taiwan, R.O.C. The aim for the Top University Project to the National Cheng Kung University. Besides, we would like to appreciate the precious comments from Prof. Ming-Chung Fang during the research period.

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Authors and Affiliations

  1. Departments of Systems & Naval Mechatronic Engineering, National Cheng Kung University, Tainan City, 70101, Taiwan, Republic of China

    Yu-Hsien Lin, Kuan-Po Shou & Lin-Jin Huang

  2. International Wave Dynamics Research Center, National Cheng Kung University, Tainan City, 70101, Taiwan, Republic of China

    Yu-Hsien Lin

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  1. Yu-Hsien Lin
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  2. Kuan-Po Shou
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Correspondence to Yu-Hsien Lin.

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Lin, YH., Shou, KP. & Huang, LJ. The initial study of LLS-based binocular stereo-vision system on underwater 3D image reconstruction in the laboratory. J Mar Sci Technol 22, 513–532 (2017). https://doi.org/10.1007/s00773-017-0432-3

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  • DOI: https://doi.org/10.1007/s00773-017-0432-3

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