| Title |
Underwater 3D Dense Mapping Using Unmanned Underwater Vehicle with Laser Scanner : First Experiment in Engineering Basin |
| Authors |
이영준(Yeongjun Lee) ; 이윤건(Yoongeon Lee) ; 최현택(Hyun-Taek Choi) ; 여태경(Tae-Kyeong Yeu) |
| DOI |
https://doi.org/10.5573/ieie.2019.56.10.82 |
| Keywords |
Underwater sensor; Laser scanner; Reconstruction; Vision; Underwater unmanned vehicle |
| Abstract |
This paper presents a preliminary experimental result on underwater 3-dimensional dense reconstruction with an underwater laser scanner and Unmanned Underwater Vehicle (UUV) with an laser scanner in an engineering basin. In the field of marine sensor, there are only a few devices that can measure the underwater environment accurately and quickly. To overcome this, the final goals of this research develops an underwater laser scanning system consisting the optical camera and laser and reconstructs the ocean environment densely. In this paper, as a preliminary study, the experiment of 3D reconstruction for the bottom of the KRISO engineering basin is performed. Before the experiment, the calibration determining the accurate position of the optical camera and laser installed on the UUV is conducted, which is one of the cores to decide the quality of the underwater reconstruction along with the underwater navigation. The calibration and reconstruction results are reported in this paper. |