Deepwater 3D Measurements with a Novel Sensor System

被引：0

作者：

Braeuer-Burchardt, Christian ^{[1
]}

Munkelt, Christoph ^{[1
]}

Bleier, Michael ^{[2
]}

Baumann, Anja ^{[3
]}

Heinze, Matthias ^{[1
]}

Gebhart, Ingo ^{[1
]}

Kuehmstedt, Peter ^{[1
]}

Notni, Gunther ^{[1
,4
]}

机构：

[1] Fraunhofer Inst Appl Opt & Precis Engn, Albert Einstein Str 7, D-07745 Jena, Germany

[2] Julius Maximilian Univ Wurzburg, Robot & Telemat Dept Comp Sci, Sanderring 2, D-97070 Wurzburg, Germany

[3] 3plusplus GmbH, D-98527 Suhl, Germany

[4] Tech Univ Ilmenau, Machine Engn Fac, Ehrenbergstr 29, D-98693 Ilmenau, Germany

来源：

APPLIED SCIENCES-BASEL | 2024年 / 14卷 / 02期

关键词：

underwater 3D sensor system; deepwater; structured illumination; visual odometry; motion compensation; 3D model generation; UNDERWATER; RECONSTRUCTION;

D O I：

10.3390/app14020557

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

Featured Application The potential application of the introduced sensor system can enable the simultaneous mapping of the seafloor and the capturing of high-precision 3D data of underwater industrial structures for inspection.Abstract A novel 3D sensor system for underwater application is presented, primarily designed to carry out inspections on industrial facilities such as piping systems, offshore wind farm foundations, anchor chains, and other structures at deep depths of up to 1000 m. The 3D sensor system enables high-resolution 3D capture at a measuring volume of approximately 1 m3, as well as the simultaneous capture of color data using active stereo scanning with structured lighting, producing highly accurate and detailed 3D images for close-range inspection. Furthermore, the system uses visual inertial odometry to map the seafloor and create a rough 3D overall model of the environment via Simultaneous Localization and Mapping (SLAM). For this reason, the system is also suitable for geological, biological, or archaeological applications in underwater areas. This article describes the overall system and data processing, as well as initial results regarding the measurement accuracy and applicability from tests of the sensor system in a water basin and offshore with a Remotely Operating Vehicle (ROV) in the Baltic Sea.

引用

页数：17

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