UMM

Turbid-water 3D Reconstruction

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This paper studies underwater perception and short-range scene reconstruction. Our work enables autonomous manipulation behaviors that support the autonomous maintenance of subsea infrastructure. We present a system that leverages assisted stereo to reconstruct the geometry of textured or untextured structures immersed in turbid water. Our package projects a random binary pattern in the cameras' field of view, which facilitates stereopsis in areas that are not naturally textured. We discuss the design and assembly of the package, and we quantify the accuracy and coverage of our method in turbid water ranging from 1 to 2.5 NTU.

Main reference:

detry2018a 
R. Detry, J. Koch, T. Pailevanian, M. Garrett, D. Levine, C. Yahnker and M. Gildner, Turbid-water Subsea Infrastructure 3D Reconstruction with Assisted Stereo. In MTS/IEEE OCEANS, 2018.
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Papers covering this topic:

koch2018a 
J. Koch, T. Pailevanian, M. Garrett, C. Yahnker, R. Detry, D. Levine and M. Gildner, Development of a Robotic Limb for Underwater Mobile Manipulation. In MTS/IEEE OCEANS, 2018.
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wu2019a 
P. Wu, J. Koch, T. Pailevanian, M. Garrett, D. Levine, C. Yahnker, M. Gildner, J. Nash and R. Detry, Partial Illumination for 3D Scene Reconstruction in Highly Turbid Underwater Environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019. submitted.
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