Research On 3D Reconstruction Technology Of Underwater Rotating Scanning

With the tension of land resources in recent years,the demand for exploration of underwater resources has gradually increased.Using visual technology to detect underwater resources can get rich information.Underwater line structured light 3D reconstruction technology can obtain accurate 3D information of underwater targets.The obtained information can be widely used for underwater resource detection,underwater robot navigation,underwater.Biological protection and other fields.Therefore,the study of underwater 3D optical 3D reconstruction technology has important theoretical research and practical application value for underwater visual information acquisition.In this paper,an underwater line structure optical 3D reconstruction system based on underwater controllable turntable is designed.The system calibration technology of underwater rotating scanning line structured light 3D reconstruction system,underwater image enhancement and restoration technology,underwater point cloud generation,registration and triangular facet technology are studied,which realizes the 3D model restoration of underwater targets.And reconstruction.The system calibration technology of underwater rotating scanning line structured light three-dimensional reconstruction system is divided into underwater camera calibration technology,underwater rotating shaft calibration technology and underwater structure light plane calibration technology.In the research of underwater camera calibration technology,this paper calibrates the internal and external parameters of the underwater camera.In the underwater rotating shaft calibration technique,the rigid transformation between the rotating axis coordinate system and the world coordinate system is calibrated.In the research of underwater plane light plane calibration technology,this paper studies the underwater line structure cursor setting technology,calibrates the underwater light plane equation and verifies it.In the research of underwater image enhancement and restoration methods,this paper uses inverse filtering,Wiener filtering and dark channel prior defogging to recover the underwater image,and the blurred underwater image becomes clear.In this paper,the underwater image is enhanced by contrast adjustment,histogram equalization and contrast-limited adaptive histogram equalization,and the underwaterimage is color-corrected.In the study of underwater point cloud generation,registration and triangular facet technology,this paper obtains a three-dimensional point cloud of underwater objects.The ICP algorithm based on pointfeature histogram is used to obtain the 3D point cloud registration to the same coordinate system at different angles.The Delaunay triangular facet algorithm is used to triangulate the discrete point cloud to make the point cloud mesh and three-dimensional.After experimental tests,the shape and 3D point cloud information of the underwater object are obtained.The accuracy basically meets the expected parameters ofthe system,and thepracticability and effectiveness of the proposed algorithm are verified.