Deepwater 3D Measurements with a Novel Sensor System
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Published:2024-01-09
Issue:2
Volume:14
Page:557
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ISSN:2076-3417
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Container-title:Applied Sciences
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language:en
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Short-container-title:Applied Sciences
Author:
Bräuer-Burchardt Christian1, Munkelt Christoph1ORCID, Bleier Michael2, Baumann Anja3, Heinze Matthias1, Gebhart Ingo1, Kühmstedt Peter1, Notni Gunther14ORCID
Affiliation:
1. Fraunhofer Institute for Applied Optics and Precision Engineering, Albert-Einstein-Str. 7, D-07745 Jena, Germany 2. Robotics and Telematics Department of Computer Science, Julius-Maximilian University Würzburg, Sanderring 2, D-97070 Würzburg, Germany 3. 3plusplus GmbH, D-98527 Suhl, Germany 4. Machine Engineering Faculty, Technical University Ilmenau, Ehrenbergstraße 29, D-98693 Ilmenau, Germany
Abstract
A novel 3D sensor system for underwater application is presented, primarily designed to carry out inspections on industrial facilities such as piping systems, offshore wind farm foundations, anchor chains, and other structures at deep depths of up to 1000 m. The 3D sensor system enables high-resolution 3D capture at a measuring volume of approximately 1 m3, as well as the simultaneous capture of color data using active stereo scanning with structured lighting, producing highly accurate and detailed 3D images for close-range inspection. Furthermore, the system uses visual inertial odometry to map the seafloor and create a rough 3D overall model of the environment via Simultaneous Localization and Mapping (SLAM). For this reason, the system is also suitable for geological, biological, or archaeological applications in underwater areas. This article describes the overall system and data processing, as well as initial results regarding the measurement accuracy and applicability from tests of the sensor system in a water basin and offshore with a Remotely Operating Vehicle (ROV) in the Baltic Sea.
Funder
German Federal Ministry for Economic Affairs and Climate Action
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
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