Title :
One-shot underwater 3D reconstruction
Author :
Massot-Campos, Miquel ; Oliver-Codina, Gabriel
Author_Institution :
Dept. de Mat. i Inf., Univ. de les Illes Balears, Palma de Mallorca, Spain
Abstract :
A one-shot sensor for underwater 3D reconstruction is presented and tested underwater in a water tank. The system is composed of a RGB CCD camera and a 532 nm green laser with a Diffractive Optical Element attached to it. The laser projects a pattern of parallel lines into the scene. The deformed pattern obtained in the camera frame is then processed to obtain a non-dense 3D point cloud that can be later used for autonomous manipulation and grasping, or for detailed mapping of textureless objects or scenarios.
Keywords :
CCD image sensors; computer graphics; diffractive optical elements; geophysical image processing; image colour analysis; image reconstruction; oceanographic techniques; RGB CCD camera; autonomous manipulation; camera frame; deformed pattern; diffractive optical element; grasping; green laser; nondense 3D point cloud; one-shot sensor; one-shot underwater 3D reconstruction; parallel lines; water tank; Calibration; Cameras; Lasers; Robot sensing systems; Scattering; Three-dimensional displays;
Conference_Titel :
Emerging Technology and Factory Automation (ETFA), 2014 IEEE
Conference_Location :
Barcelona
DOI :
10.1109/ETFA.2014.7005282
