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

doi:10.1109/TII.2023.3342899

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Water-MBSL: Underwater Movable Binocular Structured Light-Based High-Precision Dense Reconstruction Framework
	Ou, Yaming 1,2; Fan, Junfeng 1; Zhou, Chao 1; Cheng, Long 1; Tan, Min 1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
	2023-12-29
页码	13
关键词	Motion reconstruction structured light underwater 3-D reconstruction underwater exploration
ISSN号	1551-3203
DOI	10.1109/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
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001137388200001
资助机构	Beijing Natural Science Foundation
内容类型	期刊论文
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
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.