Authors:
Erik A. Nelson
1
;
Ian T. Dunn
1
;
Jeffrey Forrester
1
;
Timothy Gambin
2
;
Christopher M. Clark
3
and
Zoë Wood
1
Affiliations:
1
California Polytechnic State University, United States
;
2
University of Malta, Malta
;
3
Harvey Mudd College, United States
Keyword(s):
Geometric Reconstruction, Underwater Stereo Vision, Level Sets.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Geometry and Modeling
;
Image-Based Modeling
;
Modeling and Algorithms
;
Pattern Recognition
;
Scene and Object Modeling
;
Software Engineering
;
Surface Modeling
Abstract:
This work presents a process pipeline that addresses the problem of reconstructing surfaces of underwater
structures from stereo images and sonar scans collected with a micro-ROV on the islands of Malta and Gozo.
Using a limited sensor load, sonar and small GoPro Hero2 cameras, the micro-ROV is able to explore water
systems and gather data. As a preprocess to the reconstruction pipeline, a 3D evidence grid is created by
mosaicing horizontal and vertical sonar scans. A volumetric representation is then constructed using a level
set method. Fine-scale details from the scene are captured in stereo cameras, and are transformed into point
clouds and projected into the volume. A raycasting technique is used to trim the volume in accordance with
the projected point clouds, thus reintroducing fine details to the rough sonar-generated model. The resulting
volume is surfaced, yielding a final mesh which can be viewed and interacted with for archaeological and
educational purposes. Initial resu
lts from both steps of the reconstruction pipeline are presented and discussed.
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