Strict geometric modelling concepts for underwater laser triangulation

水下激光三角测量的严格几何建模概念

基本信息

批准号：
433522300
负责人：
Professor Dr. Hans-Gerd Maas
金额：
--
依托单位：
Institut für Photogrammetrie und Fernerkundung
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2019
资助国家：
德国
起止时间：
2018-12-31 至 2021-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/433522300?language=en
关键词：
Strict geometric modelling concepts underwater

项目摘要

Laser triangulation, based on a laser lightsheet illuminating a profile of an object surface imaged by a camera under a parallax, is one of the most common optical 3D measurement techniques. The technique is also very relevant as a 3D sensor on upcoming UWVs (unmanned water vehicles) for precise underwater measurements of riverbed topography in small rivers for environmental monitoring tasks, as well as for other underwater measurement tasks. Applying laser triangulation techniques for 3D point coordinate determination underwater requires several modifications of the geometric and stochastic models for sensor modelling and calibration. Therefor the goal of the proposal is to develop a strict geometric model for underwater laser triangulation and to validate it with the focus on UWV applications in the field of environmental monitoring. Unlike lidar bathymetry instruments usually flown on an aircraft, laser triangulation systems can be designed as very compact lowcost devices, which can easily be mounted on a small UWV plat-form. It also has a much higher precision and spatial resolution potential than echo sounding techniques or airborne laser bathymetry. Compared to this, its disadvantages of limited spatial coverage and depth range are less relevant in typical UWV applications, which are for instance in the provision of riverbed data as a basis for flood simulations in small catchments, in ecosystem monitoring, underwater habitat mapping or in sedimentation process monitoring. Beyond this, underwater laser triangulation also depicts an interesting 3D measurement tool on autonomous submarine vehicles for technical purposes such as pipeline welding, or for underwater archaeology.

激光三角测量是最常见的光学 3D 测量技术之一，它基于激光光片照射由相机在视差下成像的物体表面的轮廓。该技术也非常适合用作即将推出的 UWV（无人水上交通工具）上的 3D 传感器，用于精确水下测量小河流中的河床地形，以执行环境监测任务以及其他水下测量任务。应用激光三角测量技术进行水下 3D 点坐标确定需要对传感器建模和校准的几何和随机模型进行多次修改。因此，该提案的目标是为水下激光三角测量开发严格的几何模型，并重点验证 UWV 在环境监测领域的应用。与通常在飞机上飞行的激光雷达测深仪器不同，激光三角测量系统可以设计为非常紧凑的低成本设备，可以轻松安装在小型 UWV 平台上。与回声探测技术或机载激光测深技术相比，它还具有更高的精度和空间分辨率潜力。与此相比，其空间覆盖范围和深度范围有限的缺点在典型的 UWV 应用中不太相关，例如提供河床数据作为小流域洪水模拟的基础、生态系统监测、水下栖息地测绘或沉淀过程监测。除此之外，水下激光三角测量还描绘了一种有趣的 3D 测量工具，适用于自主潜艇车辆，用于管道焊接等技术目的或水下考古。