Vision-based 3D Reconstruction for Deep-Sea Environments: Practical Use for Surveys and Inspection - Archive ouverte HAL Access content directly
Conference Papers Year : 2023

Vision-based 3D Reconstruction for Deep-Sea Environments: Practical Use for Surveys and 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 online 3D reconstruction. 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.
Fichier principal
Vignette du fichier
Oceans 2023 - Ferrera.pdf (10.15 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-04206629 , version 1 (13-09-2023)

Identifiers

Cite

Maxime Ferrera, Aurélien Arnaubec, Clémentin Boittiaux, Inès Larroche, Jan Opderbecke. Vision-based 3D Reconstruction for Deep-Sea Environments: Practical Use for Surveys and Inspection. OCEANS 2023 - Limerick, Jun 2023, Limerick, Ireland. pp.1-7, ⟨10.1109/OCEANSLimerick52467.2023.10244338⟩. ⟨hal-04206629⟩
30 View
56 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More