Inproceedings,
SCOUT3D -- An underwater laser scanning system for mobile mapping
Proceedings of Optical 3D Metrology 2019, page 13--18. Strasbourg, France, (November 2019)
DOI: 10.5194/isprs-archives-XLII-2-W18-13-2019
Abstract
This paper presents an underwater laser scanning
system and GNSS based trajectory estimation system
for scanning from a surface vessle in shallow
water. The system has an above-the-water and an
underwater component. Above-the-water two low-cost
multi- band GNSS receivers with an antenna baseline
of one meter are used for RTK positioning with
heading. The full 6-DOF is estimated by fusing the
satellite navigation data with a MEMS-based INS. The
3D data is captured in water using a structured
light scanner consisting of a low-light underwater
camera and a green cross line laser projector. We
describe the development of the system and employed
hardware components. We show results of scanning a
large test object in a water tank acquired by from a
tripod with a motorized yaw axis. Additionally, we
demonstrate first results of mobile mapping from a
floating platform. We evaluate the performance of
the system by measuring the 6-DOF trajectory with an
external optical tracking system. Additionally, we
assess the quality of the created point cloud using
reference objects placed in the scene.
