Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Development of Underwater Laser Scanner with Efficient and Flexible Installation for Unmanned Underwater Vehicle

무인잠수정을 위한 효과적이고 유연한 설치 성능을 지닌 수중 레이저스캐너 개발

  • 이영준 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 이윤건 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 채준보 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 최현택 (선박해양플랜트연구소 해양ICT연구본부) ;
  • 여태경 (선박해양플랜트연구소 해양ICT연구본부)
  • Received : 2018.08.29
  • Accepted : 2018.12.13
  • Published : 2018.12.31
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Abstract

This paper proposes a vision-based underwater laser scanner with separate structures for an underwater camera and a line laser projector. Because the two devices can be adaptively placed regardless of the features of the unmanned underwater vehicle (UUV), the scanner has significant advantages in relation to its availability and flexibility. Position calibration between the underwater camera and laser projector guarantees a 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, a test-bed system was manufactured, which consisted of the laser projector, camera, Pan&Tilt, and Attitude and Heading Reference System (AHRS). A camera-laser calibration test and simple 3D reconstruction test were performed in a water tank and the experimental results are reported.

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References

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