Type |
Proceedings paper |
Date |
2023-06-05 |
Language |
English |
Author(s) |
Ferrera Maxime1, Arnaubec Aurelien1, Boittiaux Clementin1, Larroche Inès1, Opderbecke Jan1 |
Affiliation(s) |
1 : Underwater Robotics Lab La Seyne-sur-mer, 83500, France |
Meeting |
OCEANS 2023. 05-08 June 2023, Limerick, Ireland |
Source |
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 |
DOI |
10.1109/OCEANSLimerick52467.2023.10244338 |
Keyword(s) |
Surveys, Point cloud compression, Visualization, Three-dimensional displays, Simultaneous localization and mapping, Remotely guided vehicles, Inspection |
Abstract |
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. |
Full Text |
File |
Pages |
Size |
Access |
|
7 |
11 MB |
Access on demand |
Author's final draft |
8 |
10 MB |
Open access |
|