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首页> 外文会议>International Conference on Robot Intelligence Technology and Applications >Preliminary Results on Underwater Object Recognition with a Laser Scanner for Unmanned Underwater Vehicle
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Preliminary Results on Underwater Object Recognition with a Laser Scanner for Unmanned Underwater Vehicle

机译：初步导致水下对象识别与无人水下车辆的激光扫描仪

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摘要

This paper presents a camera-laser scanner system for underwater ranging and preliminary results of three-dimensional (3D) object recognition. Calibration between the camera and the laser is necessary to obtain precise 3D information. To accomplish this, we adopted a triangulation-based method proposed by Forest and Collado (New methods for triangulation-based shape acquisition using laser scanners. Univeritat de Girona, 2004) 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 objects 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.
机译：本文介绍了一种用于水下测距和三维（3D）对象识别的初步结果的摄像机激光扫描系统。相机和激光之间的校准是获得精确的3D信息所必需的。为了实现这一目标，我们采用了一种基于三角测量的方法，由森林和科拉多州提出（使用激光扫描仪进行三角测量的形状采集的新方法。Univeritat de Girona，2004）并设计了一种简单的图像处理序列，以检测投影激光线图片。使用从激光扫描仪的精确测量测量，在虚拟3D空间中重建并识别水下3D对象。为了验证激光扫描仪和3D识别的性能，我们在水箱中进行了实验。

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