무인 잠수정을 위한 효과적이고 유연한 설치성능을 지닌 수중 레이저 스캐너 개발

Abstract

This paper proposes a vision based underwater laser scanner which underwater camera and line laser projector is separated structurally. Since the two devices can be placed adaptively regardless of the feature of the unmanned underwater vehicle (UUV), the scanner has the big advantage on availability and flexibility. The position calibration between underwater camera and laser projector is guaranteed the 3D measuring performance with high accuracy. To verify the proposed underwater laser scanner, the test-bed system which consists of laser projector, camera, Pan&Tilt, Attitude and Heading Reference System (AHRS) is manufactured. A camera-laser calibration test and a simple 3D reconstruction test are performed in water tank. The experimental results are reported.