摘要
随着海洋工程领域的不断发展,如何高精度地获取水下物体的三维点云具有重要学术和应用价值。由于光在不同介质中传播会引起光路的变化,导致水下线结构光视觉测量获得的点云受折射畸变影响,精度降低。针对上述问题,设计了一种基于线结构光的水下旋转扫描测量系统。提出了一种轴眼标定算法,能够将多视角水下点云配准到统一坐标系中。提出了一种引入折射补偿的水下相机成像模型,该模型可准确的描述激光在不同介质间传播过程中的光路,基于水下激光平面方程的约束,对水下点云进行折射校正,提高了水下点云的重建精度。水下测量实验结果表明,提出的高精度测量方法能够获得水下物体的三维点云信息,可测量水下目标的尺寸信息,距离目标30~80 cm时测量精度达到0.2 mm,满足了水下目标三维高精度测量要求。
With the development of the field of marine engineering,how to obtain high-precision three-dimensional point clouds of underwater objects has significant academic and practical value.However,the propagation of light in different media causes change in the optical path,which may lead to refraction distortion in the point clouds obtained through underwater structured light vision measurement and reduce accuracy.To address these issues,this article proposes an underwater rotational scanning measurement system based on structured light.An algorithm for axial calibration is proposed to register multi-view underwater point clouds into a unified coordinate system.In addition,an underwater camera imaging model is introduced,which incorporates refraction compensation.This model accurately describes the optical path of laser propagation between different media.By applying the constraints of the underwater laser plane equation,refraction correction is performed on the underwater point clouds.Thereby,the reconstruction accuracy is improved.Experimental results of underwater measurements demonstrate that the proposed high-precision measurement method can obtain three-dimensional point cloud information of underwater objects.The measurement accuracy reaches 0.2 mm when the distance to the target is between 30~80 cm,which could meet the requirements of high-precision three-dimensional measurement of underwater targets.
作者
刘涛
关添航
杜宏旺
曾泽松
王宁宁
Liu Tao;Guan Tianhang;Du Hongwang;Zeng Zesong;Wang Ningning(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150000,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2023年第7期260-270,共11页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(51409059)
国防科工局项目(JCKYS2021SXJQR-04)资助。
关键词
水下三维测量
计算机视觉
线结构光传感器
轴眼标定
水下折射补偿
underwater three-dimensional measurement
computer vision
line structured light sensor
axis calibration
underwater refraction compensation
