1P1-K02 Underwater 3D Measurement Using Fisheye Stereo Camera and Projector(3D Measurement/Sensor Fusion)

Abstract

Sensing in aquatic environment is important to maintain underwater structures and research aquatic lives and resources. This paper proposes a method for measuring the 3D coordinates and the shape of objects in water using stereo fisheye camera and a projector. By projecting light on an object from a projector, lattice pattern is created on the surface of the object in water. Corresponding grid points are detected on the image of two fisheye cameras, and 3D coordinates are calculated using the principle of triangulation. Experiment results show the effectiveness of the proposed method.