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27 November 2019 Laser stripe matching algorithm with coplanar constraint in underwater laser scanning systems
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Abstract

In order to obtain the precise three-dimensional (3-D) points of underwater objects, we propose a corresponding pixel matching algorithm based on coplanar constraint for underwater laser scanning systems. It uses three coplanar constraints of left camera, right camera, and laser plane to achieve high-precision and high-speed pixel matching according to the characteristics of underwater laser scanning system. Results show that the measurement error is <3  mm for the bat placed 3 m away and compared with a method using epipolar constraints. The proposed method can greatly reduce the measurement error by 89.64%. In addition, the average processing time of each image is 5 ms, and the generated 3-D points are uniform and dense, which means the system can realize real-time processing and good robustness with high precision.

© 2019 Society of Photo-Optical Instrumentation Engineers (SPIE) 0091-3286/2019/$28.00 © 2019 SPIE
Dawei Tu, Guoliang Xiao, Xu Zhang, Liangliang Xie, Pan Jin, and Can Zhang "Laser stripe matching algorithm with coplanar constraint in underwater laser scanning systems," Optical Engineering 58(11), 114108 (27 November 2019). https://doi.org/10.1117/1.OE.58.11.114108
Received: 30 July 2019; Accepted: 13 November 2019; Published: 27 November 2019
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