Structured Light Vision 3-D Reconstruction System for Different Media Considering Refraction: Design, Modeling, and Calibration

Due to the advantages of high measurement accuracy and good robustness, structured light vision (SLV) methods have been extensively applied for 3-D reconstruction in air and water scene. However, most current SLV systems cannot adapt to different media without recalibration, and have the disadvantages of complicated calibration process including SLV model parameter calibration in air and water. In order to overcome these problems, a SLV 3-D reconstruction system for different media considering refraction is proposed. First, an accurate SLV measurement model is established for 3-D reconstruction in different media, which considers structured light plane refraction model and camera refraction model simultaneously. Specifically, the relationship of the SLV model parameters in air and water are proposed. Second, a simple and efficient calibration method of SLV model parameters is presented. After SLV model calibration in air and refraction interface parameters calibration, the SLV model parameters in different media can be obtained accurately without recalibration. Finally, a compact SLV system is developed, and calibration experiments and 3-D reconstruction experiments in air and different turbid water are conducted. Experiment results show that the proposed system could obtain satisfactory 3-D reconstruction performance in air and different turbidity water.