수중레이저스캐너를 활용한 3차원 물체인식에 관한 사전 결과

Abstract

This paper presents a camera-laser scanner system for underwater ranging and preliminary results of three-dimensional (3D) object recognition. Calibration be-tween the camera and the laser is necessary to obtain precise 3D information. To ac-complish this, we adopted a triangulation-based method proposed by Josep Forest et al [1] and designed a simple image processing sequence to detect a projected laser line on the image. Using precise ranging measurement from laser scanner, underwater 3D ob-jects were reconstructed and recognized in virtual 3D space. To verify the performance of a laser scanner and the 3D recognition, we performed an experiment in a water tank.