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Underwater 3D Laser Scanners: The Deformation of the Plane

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Sensing and Control for Autonomous Vehicles

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 474))

Abstract

Development of underwater 3D perception is necessary for autonomous manipulation and mapping. Using a mirror-galvanometer system to steer a laser plane and using triangulation, it is possible to produce full 3D perception without the need of moving the sensor. If the sensor does not meet certain hardware requirements, the laser plane is distorted when it passes through the different media (air–viewport–water). However, the deformation of this plane has not been studied. In this work a ray-tracing model is presented to study the deformation of the laser plane. To validate it, two types of datasets have been used, one synthetically generated using the model presented below, and another one using real data gathered underwater with an actual laser scanner. For both datasets an elliptic cone is fitted on the data and compared to a plane fit (the surface commonly used for triangulation). In the two experiments, the elliptic cone proved to be a better fit than the plane.

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Authors and Affiliations

  1. Computer Vision and Robotics Institute, Universitat de Girona, Girona, Spain

    Albert Palomer, Pere Ridao, David Ribas & Josep Forest

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  1. Albert Palomer
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  2. Pere Ridao
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  3. David Ribas
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  4. Josep Forest
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Correspondence to Albert Palomer .

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Editors and Affiliations

  1. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Thor I. Fossen

  2. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Kristin Y. Pettersen

  3. Eindhoven University of Technology (TuE), Eindhoven, The Netherlands

    Henk Nijmeijer

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Palomer, A., Ridao, P., Ribas, D., Forest, J. (2017). Underwater 3D Laser Scanners: The Deformation of the Plane. In: Fossen, T., Pettersen, K., Nijmeijer, H. (eds) Sensing and Control for Autonomous Vehicles. Lecture Notes in Control and Information Sciences, vol 474. Springer, Cham. https://doi.org/10.1007/978-3-319-55372-6_4

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  • DOI: https://doi.org/10.1007/978-3-319-55372-6_4

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