title: Tools to Perform Local Dense 3D Reconstruction of Shallow Water Seabed.
abstract: Tasks such as distinguishing or identifying individual objects of interest require the production of dense local clouds at the scale of these individual objects of interest. Due to the physical and dynamic properties of an underwater environment, the usual dense matching algorithms must be rethought in order to be adaptive. These properties also imply that the scene must be observed at close range. Classic robotized acquisition systems are oversized for local studies in shallow water while the systematic acquisition of data is not guaranteed with divers. We address these two major issues through a multidisciplinary approach. To efficiently acquire on-demand stereoscopic pairs using simple logistics in small areas of shallow water, we devised an agile light-weight dedicated system which is easy to reproduce. To densely match two views in a reliable way, we devised a reconstruction algorithm that automatically accounts for the dynamics, variability and light absorption of the underwater environment. Field experiments in the Mediterranean Sea were used to assess the results.
authors.affiliation: Laboratoire LTCI, CNRS, Télécom ParisTech, Université Paris-Saclay, 46 rue Barrault, 75013 Paris, France. loica.avanthey@gmail.com.|ESIEA, 9 rue Vésale, 75005 Paris, France. loica.avanthey@gmail.com.
authors.forename: Loïca
authors.initials: L
authors.lastname: Avanthey
authors.affiliation: ESIEA, 9 rue Vésale, 75005 Paris, France. dr.beaudoin@gmail.com.
authors.forename: Laurent
authors.initials: L
authors.lastname: Beaudoin
authors.affiliation: EPF, 21 Boulevard Berthelot, 34000 Montpellier, France. antoine.gademer@epf.fr.
authors.forename: Antoine
authors.initials: A
authors.lastname: Gademer
authors.affiliation: Laboratoire LTCI, CNRS, Télécom ParisTech, Université Paris-Saclay, 46 rue Barrault, 75013 Paris, France. michel.roux@telecom-paristech.fr.
authors.forename: Michel
authors.initials: M
authors.lastname: Roux
keywords: dense point clouds; low cost underwater micro-robot; stereoscopic rig; underwater 3D reconstruction