Underwater active oneshot scan with static wave pattern and bundle adjustment

Hiroki Morinaga, Hirohisa Baba, Marco Visentini-Scarzanella, Hiroshi Kawasaki, Ryo Furukawa, Ryusuke Sagawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


Structured Light Systems (SLS) are widely used for various purposes. Recently, a strong demand to apply SLS to underwater applications has emerged. When SLS is used in an air medium, the stereo correspondence problem can be solved efficiently by epipolar geometry due to the co-planarity of the 3D point and its corresponding 2D points on camera/projector planes. However, in underwater environments, the camera and projector are usually set in special housings and refraction occurs at the interfaces between water/glass and glass/air, resulting in invalid conditions for epipolar geometry which strongly affect the correspondence search process. In this paper, we tackle the problem of underwater 3D shape acquisition with SLS. In this paper, we propose a method to perform 3D reconstruction by calibrating the system as if they are in the air at multiple depth. Since refraction cannot be completely described by a polynomial approximation of distortion model, grid based SLS method solve the problem. Finally, we propose a bundle adjustment method to refine the final result. We tested our method with an underwater SLS prototype, consisting of custom-made diffractive optical element (DOE) laser and underwater housings, showing the validity of the proposed approach.

Original languageEnglish
Title of host publicationImage and Video Technology - 7th Pacific-Rim Symposium, PSIVT 2015, Revised Selected Papers
EditorsMariano Rivera, Brendan McCane, Xinguo Yu, Thomas Bräunl
PublisherSpringer Verlag
Number of pages15
ISBN (Print)9783319294506
Publication statusPublished - 2016
Externally publishedYes
Event7th Pacific-Rim Symposium on Image and Video Technology, PSIVT 2015 - Auckland, New Zealand
Duration: Nov 25 2015Nov 27 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other7th Pacific-Rim Symposium on Image and Video Technology, PSIVT 2015
Country/TerritoryNew Zealand

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


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