Optics and Precision Engineering, Volume. 29, Issue 10, 2465(2021)

River underwater 3D vision measurement method

Li XU1,*... Yong-hao ZHOU1, Gui-ming LU1,*, Jin-feng ZHOU2, Fan ZHANG1 and Wen-yu LUO1 |Show fewer author(s)
Author Affiliations
  • 1School of Physics and Electronics, North China University of Water Resources and Electric Power, Zhengzhou450046, China
  • 2China Mobile Communications Corporation, Beijing100033, China
  • show less
    Figures & Tables(17)
    Model of underwater measurement based on refraction
    Error analysis of 3D measurement due to image point extraction error
    Design of projection model in structured light system(a) The model of projection; (b)~(e) Multi-field center rotation projection models
    Stripe decoding of image under turbid water
    Example of stripe decoding rules for the first field measurement pattern
    World coordinates and imaging coordinates of corners on planar target with checkerboard
    Principle of light-plane calibration
    Components of underwater structured light system
    Underwater image acquisition sequence (a)~(e) Measurement images of projection period with five fields
    Underwater measurement process of bottle
    Analysis of image and stripe extraction results in different turbid water (a0)~(a3) Images of different turbid water; (b0)~(b3) Binary images of different turbid water; (c0)~(c3) Stripe extraction in different turbid water; (d0)~(d3) Detail of stripe extraction
    3D results of planar object under different turbid water(a0)~(a3) Measurement surfaces under clear water and three different turbid water; (b0)~(b3) Results of plane fitting residuals under clear water and three different turbid water
    Error of stripe extraction and 3D vision measurement due to different turbid water
    • Table 1. Camera calibration parameters

      View table
      View in Article

      Table 1. Camera calibration parameters

      ParametersCalibration results
      Focal length f40.347 1 mm
      Distortion coefficient k-1.477 14×10-4
      Rotation matrix R0.81950.00660.57300.0254-0.9994-0.02480.57250.0349-0.8192
      Translation vector T-156.3135.211208.6T
    • Table 2. Parameters of light-plane

      View table
      View in Article

      Table 2. Parameters of light-plane

      NumberParameters of light plane
      s1[-0.21 0.14 0.02 -2 230.23]
      s2[0.21 -0.44 0.60 -947.08]
      s3[0.34 0.08 0.86 -1 390.66]
      s4[0.18 0.45 0.39 -1 266.22]
      s5[0.02 0.03 0.09 -1 283.23]
      s6[0.16 -0.47 0.48 -1 325.53]
      s7[0.34 -0.03 0.87 -1 407.2]
      s8[0.23 0.44 0.53 -1 258.42]
      s9[0.03 0.19 0.04 -1 313.53]
      s10[0.11 -0.46 0.33 -1 176.72]
      s11[0.32 -0.15 0.85 -1 344.52]
      s12[0.28 0.39 0.65 -1 253.26]
      s13[0.07 0.33 0.13 -1 288.32]
      s14[0.06 -0.40 0.80 -1 202.45]
      s15[0.31 -0.31 0.75 -1 257.33]
      s16[0.12 0.46 0.25 -1 548.47]
      s17[0.22 -0.34 0.57 -1 214.20]
      s18[0.11 -0.13 0.01 -1 138.64]
      s19[0.28 -0.29 0.51 -1 281.25]
      s20[0.35 0.25 0.77 -1 434.21]
    • Table 3. Stripe decoding results of four different water with silt

      View table
      View in Article

      Table 3. Stripe decoding results of four different water with silt

      FieldStripeStandard polar angle θDecoding rulesClear water

      Muddy water 1

      (40 g)

      Muddy water 2

      (60 g)

      Muddy water 3

      (90 g)

      Fitting angleθDecoding resultFitting angle θDecoding resultFitting angle θDecoding resultFitting angle θDecoding result
      Field 1s1θ∈(-22.5°,22.5°]0.85°s1-5.15°s1-4.14°s1-24.59°Error
      s645°θ∈(22.5°,67.5°]53.61°s655.46°s653.83°s650.78°s6
      s1190°θ∈(67.5°,112.5°]98.11°s1195°s1197.13°s1187.05°s11
      s16135°θ∈(112.5°,157.5°]136.78°s16138.44°s16137.86°s16121.87°s16
      Field 2s2θ∈(-13.5°,31.5°]11.28°s212.03°s211.03°s2-22.35°Error
      s754°θ∈(31.5°,76.5°]63.52°s767.75°s766.08°s772.42°s7
      s1299°θ∈(76.5°,121.5°]105.68°s12100.54°s12102.84°s12113.69°s12
      s17144°θ∈(121.5°,166.5°]144.68°s17148.4°s17146.42°s17150.4°s17
      Field 3s318°θ∈(-4.5°,40.5°]21.72°s313.34°s320.35°s330.83°s3
      s863°θ∈(40.5°,85.5°]73.16°s878.69°s873.62°s880.96°s8
      s13108°θ∈(85.5°,130.5°]113.13°s13104.37°s13112.37°s13125.81°s13
      s18153°θ∈(130.5°,175.5°]153.28°s18162.42°s18154.65°s18162.2°s18
      Field 4s427°θ∈(4.5°,49.5°]32.76°s430.37°s431.91°s445.5°s4
      s972°θ∈(49.5°,94.5°]81.83°s986.69°s985.18°s990.54°s9
      s14117°θ∈(94.5°,139.5°]121.01°s14116.34°s14117.21°s14119.59°s14
      s19162°θ∈(139.5°,84.5°]161.74°s19163.98°s19161.9°s19170.69°s19
      Field 5s536°θ∈(13.5°,58.5°]43.49°s540.85°s542.51°s550.81°s5
      s1081°θ∈(58.5°,103.5°]90.31°s1094.43°s1092.93°s1097.58°s10
      s15126°θ∈(103.5°,148.5°]128.64°s15125.07°s15126.09°s15140.78°s15
      s20171°θ∈(148.5°,193.5°]171.4°s20173.11°s20172.05°s20195.47°Error
    • Table 4. Influence of turbid water on 3D vision measurement

      View table
      View in Article

      Table 4. Influence of turbid water on 3D vision measurement

      Water typeError of stripe extraction(pixel)Error of 3D measurement(mm)Relative measurement error(%)
      Clear water0.410.950.06
      Muddy water10.771.930.13
      Muddy water24.245.430.36
      Muddy water327.0921.431.43
    Tools

    Get Citation

    Copy Citation Text

    Li XU, Yong-hao ZHOU, Gui-ming LU, Jin-feng ZHOU, Fan ZHANG, Wen-yu LUO. River underwater 3D vision measurement method[J]. Optics and Precision Engineering, 2021, 29(10): 2465

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category: Information Sciences

    Received: Mar. 18, 2021

    Accepted: --

    Published Online: Nov. 23, 2021

    The Author Email: XU Li (xuli@ncwu.edu.cn), LU Gui-ming (lugm@ncwu.edu.cn)

    DOI:10.37188/OPE.20212910.2465

    Topics