45 / 2023-08-29 21:44:14

Research on image-based 3D reconstruction method in underwater welding scenes

Image-based 3D reconstruction,underwater 3D reconstruction,Low-light 3D reconstruction,Underwater welding vision

Special Sessions > SS08 - IoT, AI Methods, and Applications in Health Monitoring and Diagnosis of Structure, Power, Medicine, etc

The working environment of underwater structures is complex and often requires underwater welding repair. This paper proposed an underwater image-based 3D reconstruction method for underwater dry welding robots, which can be applied to welding scenes in low-light underwater environments. Firstly, this paper used commonly used binocular and RGB-D cameras to conduct 3D reconstruction tests in air, wet, and underwater scenes, respectively. The conclusion was drawn that binocular cameras have higher accuracy in underwater scenes, while RGB-D cameras have higher accuracy in air and wet scenes. Secondly, an improved binocular image-based 3D reconstruction method was proposed and tested on the Haud public dataset. Finally, a new underwater binocular-RGB-D image-based 3D reconstruction method was proposed for an underwater welding scene. The method proposed in this paper can provide a prerequisite for the automation development of underwater welding robots.