Fig. 1. Binocular structured light scanning system

Fig. 2. Flowchart of laser reconstruction method for underwater target based on epipolar constraint

Fig. 3. Image preprocessing results. (a) Before pretreatment; (b) after pretreatment

Fig. 4. Center line extraction algorithms. (a) Traditional laser center line extraction; (b) gray scale vertical projection; (c) center line extraction method combined with projection

Fig. 5. Principle diagram of cross-ratio invariance

Fig. 6. Light plane parameter calibration acquisition images. (a) Image acquisition by calibration board; (b) image acquisition by laser projection line

Fig. 7. Underwater conversion principle. (a) Principle of underwater imaging; (b) principle of affine transformation

Fig. 8. Polar constraint principle

Fig. 9. Laser feature point matching. (a) Laser line diagram of left camera; (b) laser line diagram of right camera

Fig. 10. Experimental facility. (a) Experimental environment; (b) standard block A; (c) standard block B

Fig. 11. Plane fitting of standard block A point cloud

Fig. 12. Underwater reconstruction experiment. (a) Cobblestone; (b) concrete; (c) standard block B; (d) point cloud of cobblestone; (e) point cloud of concrete; (f) point cloud of standard block B