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.
%0 Conference Paper
%1 O3DM2019
%A Bleier, M.
%A v.d. Lucht, J.
%A Nüchter, A.
%B Proceedings of Optical 3D Metrology 2019
%C Strasbourg, France
%D 2019
%K author imported myown
%P 13--18
%R 10.5194/isprs-archives-XLII-2-W18-13-2019
%T SCOUT3D -- An underwater laser scanning system for mobile mapping
%U https://robotik.informatik.uni-wuerzburg.de/telematics/download/o3dm_2019.pdf
%X 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.
@inproceedings{O3DM2019,
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.},
added-at = {2019-12-08T20:37:56.000+0100},
address = {Strasbourg, France},
author = {Bleier, M. and v.d. Lucht, J. and N{\"u}chter, A.},
biburl = {https://www.bibsonomy.org/bibtex/27743388ccf03531f7ba1aff7c3bde679/nuechter76},
booktitle = {Proceedings of Optical 3D Metrology 2019},
doi = {10.5194/isprs-archives-XLII-2-W18-13-2019},
interhash = {0e54d7850fe6e3ddba0d6a0c232f4c4a},
intrahash = {7743388ccf03531f7ba1aff7c3bde679},
keywords = {author imported myown},
month = {November},
pages = {13--18},
series = {ISPRS Int. Archieves Photogrammetry and Remote Sensing, Spatial Inf. Sci., XLII-2/W18},
timestamp = {2019-12-08T20:39:27.000+0100},
title = {SCOUT3D -- An underwater laser scanning system for mobile mapping},
url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/o3dm_2019.pdf},
year = 2019
}