Vision-based 3D Reconstruction for Deep-Sea Environments: Practical Use for Surveys and Inspection

This paper presents a combination of real-time and offline 3D reconstruction methods for remotely operated vehicles (ROVs) equipped with cameras used in underwater inspection and survey tasks. The real-time component is based on a stereo visual simultaneous localization and mapping algorithm and a truncated signed distance field representation for producing a coarse 3D reconstruction online. The offline component uses structure-from-motion techniques to create a dense point cloud representation of the scene which is then meshed and textured to produce a high-quality textured 3D mesh. The paper highlights the feasibility of using ROVs for vision-based 3D reconstruction in real-world scenarios and the potential of combining real-time and offline processing in practice for a range of underwater applications.

Keyword(s)

Surveys, Point cloud compression, Visualization, Three-dimensional displays, Simultaneous localization and mapping, Remotely guided vehicles, Inspection

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Ferrera Maxime, Arnaubec Aurelien, Boittiaux Clementin, Larroche Inès, Opderbecke Jan (2023). Vision-based 3D Reconstruction for Deep-Sea Environments: Practical Use for Surveys and Inspection. OCEANS 2023 - Limerick, Limerick, Ireland, 2023, Electronic ISBN:979-8-3503-3226-1 Print on Demand(PoD) ISBN:979-8-3503-3227-8. pp. 1-7. https://doi.org/10.1109/OCEANSLimerick52467.2023.10244338, https://archimer.ifremer.fr/doc/00857/96881/

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