Fig. 1. Underwater 3D scanning system. (a) Mechanical model diagram of scanning system; (b) Sealed chamber of the laser; (c) Turntable; (d) Sealed cabin of the camera module

Fig. 2. Algorithm flow of laser fringe extraction

Fig. 3. Laser stripe image of coral surface obtained by rotating scan

Fig. 4. Laser stripe center obtained by using improved algorithm

Fig. 5. Target area placed at the bottom of the tank

Fig. 6. 3D reconstruction results of the target area

Fig. 7. Refraction model of underwater sealing device

Fig. 8. Calculation principle diagram of circle center coordinate

Fig. 9. Point cloud image of conch obtained by rotating scanning

Fig. 10. Point cloud image of conch obtained by rotating scanning

Fig. 11. (a) Error experiment of underwater standard ball; (b) Fringe center extraction result of underwater standard