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Full-Text Articles in Physical Sciences and Mathematics
Terrain Constrained Stereo Correspondence, Gabrielle Inglis, Chris Roman
Terrain Constrained Stereo Correspondence, Gabrielle Inglis, Chris Roman
Christopher N. Roman
There is a persistent need in the oceanographic community for accurate three dimensional reconstructions of seafloor structures. To meet this need underwater mapping techniques have expanded to include the use of stereo vision and high frequency multibeam sonar for mapping scenes 10's to 100's of square meters in size. Both techniques have relative advantages and disadvantages that depend on the task at hand and the desired accuracy. In this paper, we develop a method to constrain the often problematic stereo correspondence search to small sections of the image that correspond to estimated ranges along the epipolar lines calculated from coregistered …
Application Of Structured Light Imaging For High Resolution Mapping Of Underwater Archaeological Sites, Chris Roman, Gabrielle Inglis, James Rutter
Application Of Structured Light Imaging For High Resolution Mapping Of Underwater Archaeological Sites, Chris Roman, Gabrielle Inglis, James Rutter
Christopher N. Roman
This paper presents results from recent work using structured light laser profile imaging to create high resolution bathymetric maps of underwater archaeological sites. Documenting the texture and structure of submerged sites is a difficult task and many applicable acoustic and photographic mapping techniques have recently emerged. This effort was completed to evaluate laser profile imaging in comparison to stereo imaging and high frequency multibeam mapping. A ROV mounted camera and inclined 532 nm sheet laser were used to create profiles of the bottom that were then merged into maps using platform navigation data. These initial results show very promising resolution …
A Pipeline For Structured Light Bathymetric Mapping, Gabrielle Inglis, Clara Smart, J. Vaughn, Chris Roman
A Pipeline For Structured Light Bathymetric Mapping, Gabrielle Inglis, Clara Smart, J. Vaughn, Chris Roman
Christopher N. Roman
This paper details a methodology for using structured light laser imaging to create high resolution bathymetric maps of the sea floor. The system includes a pair of stereo cameras and an inclined 532nm sheet laser mounted to a remotely operated vehicle (ROV). While a structured light system generally requires a single camera, a stereo vision set up is used here for in-situ calibration of the laser system geometry by triangulating points on the laser line. This allows for quick calibration at the survey site and does not require precise jigs or a controlled environment. A batch procedure to extract the …