| 水下目标物三维激光重建方法研究 |
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| 引用本文： | 孙茜,薛庆生,张冬雪,白皓轩.水下目标物三维激光重建方法研究[J].红外与激光工程,2022,51(8):20210693-1-20210693-7. |
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| 作者姓名： | 孙茜 薛庆生 张冬雪 白皓轩 |
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| 作者单位： | 1.中国海洋大学 信息科学与工程学部，山东 青岛 266100 |
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| 基金项目： | 国家自然科学基金（U2006209，41575023）；国家重点研发计划项目（2019 YFC1408300, 2019 YFC1408301, 2018 YFF01011003）；中央高校基本科研业务费专项（202065004）；山东省重点研发计划项目（2020 CXGC010706）；吉林省科技发展计划项目(20190302083 GX)；中国科学院海洋大科学研究中心重点部署项目（COMS2019 J04）；中国工程院咨询研究项目（2020-XZ-5） |
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| 摘 要： | 文中提出了一种水下线激光的三维重建系统，由相机、绿色线形激光器和转台组成，通过对系统扫描获得的图像进行分析与处理，实现对目标区域的三维重建。采用边缘检测算法与基于极值法的高斯拟合法相结合的条纹中心提取算法，利用坐标转换公式，得到相应的三维点云坐标。点云处理方面，将alpha shapes边界提取算法和Delaunay三角剖分相结合，实现对点云的滤波与重建。针对实验中由于光线在不同介质表面折射造成的视角误差问题，提出了一种折射校正算法，并用已知尺寸的标准球进行了误差实验。结果表明，在500~1200 mm的工作距离内，系统可以实现对水下目标物体及区域的三维形貌还原，重建误差小于0.6 mm，满足设计要求，为水下三维重建技术提供新的参考。
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| 关 键 词： | 水下三维成像 线形激光扫描 条纹中心提取 三维重建 Delaunay三角剖分 |
| 收稿时间： | 2021-09-18 |
Research on the 3D laser reconstruction method of underwater targets |
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| Affiliation: | 1.Department of Information Science and Engineering, Ocean University of China, Qingdao 266100, China2.School of Electronic Information, Chongqing Institute of Engineering, Chongqing 400056, China |
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| Abstract: | A three-dimensional reconstruction system for underwater lasers is proposed, which is composed of a camera, green linear laser and turntable. The three-dimensional reconstruction of the target area is realized by analyzing and processing the image scanned by the system. In the aspect of point cloud processing, this paper combines the alpha shape boundary extraction algorithm and Delaunay triangulation to realize the filtering and reconstruction of point clouds. Aiming at the problem of viewing angle error caused by light refraction on different media surfaces in the experiment, a refraction correction algorithm is proposed, and the error experiment is carried out with a standard ball of known size. The results show that at a working distance of 500-1200 mm, the system can restore the three-dimensional morphology of underwater target objects and regions, and the reconstruction error is less than 0.6 mm, which meets the design requirements and provides a new reference for underwater three-dimensional reconstruction technology. |
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