面向海底计量应用的实时水下摄影测量

F. Menna, E. Nocerino, Mohammad Motasem Nawaf, J. Seinturier, A. Torresani, P. Drap, Fabio Remondino, B. Chemisky
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引用次数: 18

摘要

高精度水下检测在水下工业中变得越来越重要,时间和成本优化是当今水下工业创新的主要驱动力。海底行业正在经历数字化转型过程,因此,对能够提供实时精确3D数字测量的方法的需求越来越大。本文简要回顾了目前海底测量中使用的主要技术,然后进行了一项实验研究,以评估摄影测量中众所周知的三种基于视觉的技术的精度潜力,即带和不带窗口束调整的视觉里程计,以及基于关键帧的同步定位和绘图(SLAM)。精度评估使用ORUS 3D®海底摄影测量系统,使用COMEX设施提供的经过认证的3D水下参考试验场,其空间坐标精度为亚毫米级。根据海底计量行业目前设定的公差,对结果进行了关键评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Towards real-time underwater photogrammetry for subsea metrology applications
High accuracy underwater inspections are getting more and more important in the underwater industry where time and cost optimization represent nowadays the main innovation drivers. The subsea industry is undergoing a digital transformation process and for this reason, methods that can provide real-time accurate 3D digital measurements are increasingly demanded. This paper provides a short review of the main techniques currently used in subsea metrology to then present an experimental study carried out to evaluate the accuracy potential of three vision-based techniques well-known in photogrammetry, namely visual odometry with and without windowed bundle adjustment, and keyframe based simultaneous localization and mapping (SLAM). The accuracy evaluation is done using an ORUS 3D® subsea photogrammetry system using a certified 3D underwater reference test-field available at COMEX facilities, whose spatial coordinates are known with sub-millimetre accuracy. A critical assessment of results is presented against currently set tolerances for the subsea metrology industry.
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