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Water-MBSL: Underwater Movable Binocular Structured Light-Based High-Precision Dense Reconstruction Framework

文献类型：期刊论文

作者Ou, Yaming1,2; Fan, Junfeng1; Zhou, Chao1; Cheng, Long1; Tan, Min1
刊名IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
出版日期2023-12-29
页码13
关键词Motion reconstruction structured light underwater 3-D reconstruction underwater exploration
ISSN号1551-3203
DOI10.1109/TII.2023.3342899
通讯作者Fan, Junfeng() ; Zhou, Chao()
英文摘要Structured light systems are widely used in underwater dense reconstruction due to their excellent accuracy. However, the current related methods mainly focus on fixed positions. The reconstruction performance in motion is insufficient. Therefore, we propose an underwater movable binocular structured light (MBSL) based high-precision dense reconstruction framework, named WaterMBSL, to realize the robot reconstruction while moving. Specifically, an onboard binocular structured light system based on mirror-galvanometer is developed first. Then, a simplified underwater point cloud acquisition algorithm is presented to quickly obtain 3-D information of the scene. Besides, a new underwater motion compensation algorithm combining inertial measurement unit and uniform velocity model is proposed. Moreover, the generalized-ICP point cloud registration algorithm is introduced to achieve accurate motion estimation. Finally, an underwater movable reconstruction platform is developed by integrating the self-designed structured light system with the underwater robot BlueROV for validating the performance of our proposed Water-MBSL. Experimental results show that satisfactory motion reconstruction performance can be obtained.
资助项目Beijing Natural Science Foundation
WOS研究方向Automation & Control Systems ; Computer Science ; Engineering
语种英语
WOS记录号WOS:001137388200001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构Beijing Natural Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/54856]  
专题多模态人工智能系统全国重点实验室
复杂系统认知与决策实验室
通讯作者Fan, Junfeng; Zhou, Chao
作者单位1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Ou, Yaming,Fan, Junfeng,Zhou, Chao,et al. Water-MBSL: Underwater Movable Binocular Structured Light-Based High-Precision Dense Reconstruction Framework[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2023:13.
APA Ou, Yaming,Fan, Junfeng,Zhou, Chao,Cheng, Long,&Tan, Min.(2023).Water-MBSL: Underwater Movable Binocular Structured Light-Based High-Precision Dense Reconstruction Framework.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,13.
MLA Ou, Yaming,et al."Water-MBSL: Underwater Movable Binocular Structured Light-Based High-Precision Dense Reconstruction Framework".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2023):13.

入库方式： OAI收割

来源：自动化研究所

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