Laser Stripe Matching Based on Multi-layer Refraction Model in Underwater Laser Scanning System

摘要

In an underwater environment, the imaging light will pass through water, glass and air. The current laser stripe matching method is based on the epipolar constraint of binocular stereo vision. But the underwater binocular stereo vision system is an axis camera model, which is no longer applicable to the epipolar constraint. So matching the laser stripe underwater correctly is a problem to be solved. In order to reconstruct the underwater 3D model correctly, this paper proposes a laser stripe matching method based on multilayer refractive model of light field. The lights from the same point ray to two cameras are coplanar, which can be used to find the corresponding laser stripe points and calculate 3D points. The algorithm can calculate the corresponding points of laser stripe accurately and calculate the point cloud model accurately. The experimental results show that this method can achieve better point cloud reconstruction result and gain more accurate 3D model.