水下环境的线结构光扫描和三维重建

Underwater Laser Line Scan and Three-Dimensional Reconstruction

针对水下物体的三维探测和目标识别，研究了一种基于线结构光扫描的三维物体探测和三维场景重建方法。该方法使用激光线光源扫描探测区域，用标定板进行定标，建立采样数据的二维像素坐标系与三维世界坐标系的映射关系，通过坐标系变换，将二维线结构光扫描数据转变为三维物体信息。在水槽中进行了实验：采用电荷耦合器件（CCD）相机记录了线结构光扫描的图像数据，利用Matlab软件编程实现了水下场景的三维重建，通过三维重建结果可以较清晰地识别出原目标物体的形状，分析了影响探测精度的原因和改进方法。实验证明了该扫描和三维重建方法应用于水下目标探测的可行性。

For underwater three dimensional （3D） object detection and target recognition, a method of laser line scan and 3D reconstruction is put forward. Laser line source is used to scan detection area and point calibration is conducted by calibration plate. A coordinate mapping relationship between two dimensional （2D） pixel coordinate and 3D world coordinate is established, which can be used to transform 2D pixel data into 3D objects information. The laser line scan experiment is carried out in a sink, and charge coupled device （CCD） camera is used to record the image datas. By programming in Matlab, the underwater environment is reconstructed, in which the original objects can be recognized, and the reasons affecting the detection precision and improvement method are analyzed. The underwater experimental results show that this method can be used for target recognition and underwater imaging.