Using a Time of Flight method for underwater 3-dimensional depth measurements and point cloud imaging

Author

Chi-Leung Tsui ; Schipf, David ; Keng-Ren Lin ; Leang, Jonathan ; Feng-Ju Hsieh ; Wei-Chih Wang

Author_Institution

Dept. of Mech. Eng., Univ. of Washington, Seattle, WA, USA

fYear

2014

fDate

7-10 April 2014

Firstpage

1

Lastpage

6

Abstract

Underwater depth measurements and point cloud images can be used for robotic navigation and haptic feedback. Structured Light and Time of Flight (ToF) depth camera systems were tested to demonstrate depth measurements and point cloud imaging underwater. A commercial ToF depth camera was modified to include a movable external light source. Images from depth measurements and constructed point cloud images from underwater tests are shown. A comparison of depth images captured while objects were positioned ~0.10-1.80 m from the camera is presented. Calibration of ToF cameras augmented with movable external light sources for underwater use is discussed.

Keywords

bathymetry; calibration; cameras; image processing; oceanographic techniques; underwater equipment; calibration; commercial ToF depth camera; haptic feedback; movable external light source; point cloud imaging; robotic navigation; time of flight method; underwater 3D depth measurements; Cameras; Containers; Light sources; Metals; Three-dimensional displays; Water resources; Depth Camera; Haptics; Kinect; Point Cloud; Time-of-Flight; Underwater Optics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2014 - TAIPEI

Conference_Location

Taipei

Print_ISBN

978-1-4799-3645-8

Type

conf

DOI

10.1109/OCEANS-TAIPEI.2014.6964471

Filename

6964471