3D Reconstruction of Underwater Structures

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38324

Title: 3D Reconstruction of Underwater Structures
Author: Beall, Chris ; Lawrence, Brian J. ; Ila, Viorela ; Dellaert, Frank
Abstract: Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs are exposed to various sources of hazards and potential destruction, and need close observation. Computer vision offers promising technologies to build 3D models of an environment from two dimensional images. The state of the art techniques have enabled high-quality digital reconstruction of large-scale structures, e.g., buildings and urban environments, but only sparse representations or dense reconstruction of small objects have been obtained from underwater video and still imagery. The application of standard 3D reconstruction methods to challenging underwater environments typically produces unsatisfactory results. Accurate, full camera trajectories are needed to serve as the basis for dense 3D reconstruction. A highly accurate sparse 3D reconstruction is the ideal foundation on which to base subsequent dense reconstruction algorithms. In our application the models are constructed from synchronized high definition videos collected using a wide baseline stereo rig. The rig can be hand-held, attached to a boat, or even to an autonomous underwater vehicle. We solve this problem by employing a smoothing and mapping toolkit developed in our lab specifically for this type of application. The result of our technique is a highly accurate sparse 3D reconstruction of underwater structures such as corals.
Description: ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 18-22 October 2010, Taipei, Taiwan. DOI: 10.1109/IROS.2010.5649213
Type: Post-print
Proceedings
URI: http://hdl.handle.net/1853/38324
ISSN: 2153-0858
Citation: Beall, C., Lawrence, B.J., Ila, V., & Dellaert, F. (2010). "3D Reconstruction of Underwater Structures". Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 18-22 October 2010, 4418-4423
Date: 2010
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. College of Computing
Institut de Robòtica i Informàtica Industrial
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Computer vision
Images
Simultaneous localization and mapping
Structure from motion
3D reconstruction
Underwater ecosystems

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