One-shot underwater 3D reconstruction

Authors Miquel Massot Campos | Gabriel Oliver Codina
In Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2014), Barcelona, Spain, 2014.


A one-shot sensor for underwater 3D reconstruction is presented and tested underwater in a water tank. The system is composed of a RGB CCD camera and a 532 nm green laser with a Diffractive Optical Element attached to it. The laser projects a pattern of parallel lines into the scene. The deformed pattern obtained in the camera frame is then processed to obtain a non-dense 3D point cloud that can be later used for autonomous manipulation and grasping, or for detailed mapping of textureless objects or scenarios.

Poster available here.

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