3D-Imaging Development and Possibilities Jimmy Jonsson Jimmy - - PowerPoint PPT Presentation

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3D-Imaging Development and Possibilities Jimmy Jonsson Jimmy - - PowerPoint PPT Presentation

Mar 03, 2024 364 likes •511 views

3D-Imaging Development and Possibilities Jimmy Jonsson Jimmy Jonsson 1 Agenda Introduction Image Processing @ SAAB Dynamics Stereo Basics and Image Based Navigation Calibration SeaWasp Integration

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3D-Imaging

Jimmy Jonsson

Development and Possibilities

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Agenda

  • Introduction
  • Image Processing @ SAAB Dynamics
  • Stereo Basics and Image Based Navigation
  • Calibration
  • SeaWasp Integration
  • Applications
  • Capabilities and Advantages
  • Demo

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Image Processing at SAAB Dynamics

  • Target Tracking
  • Stereo
  • Image Based Navigation - SLAM (stereo/mono)
  • Recognition/Identification
  • Camera Calibration
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Stereo – Basics

  • The scene is observed by two calibrated

cameras

  • The images are rectified in order to

compensate for distortion and to make the epipolar line to become parallel with the x-axis in the images

  • One dimensional matching between left and

right image results in a disparity image

  • Triangulation results in 3D-positions of points

in the scene

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Image Based Navigation using Stereo

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Stereo Detect Landmarks Track Landmarks Estimate Ego- Motion

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UWSLAM - UnderWater Simultaneous Localization And Mapping

  • Built on SAAB’s image based

navigation system

  • Uses stereo cameras to navigate

and create sub sea 3D reconstructions/maps

  • Includes extended camera model to

handle refraction

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UWSLAM - Calibration

  • Extended Calibration Model
  • Calibration of intrinsic and external parameters

with standard camera model

  • New calibration parameters to handle refraction
  • Refraction compensation by lens
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SeaWasp Integration

  • Industrial GigE Vision Cameras mounted in underwater housings
  • Processing (3D-reconstruction) on remote computer
  • Tests performed in both test tank and Vättern/Motala
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UWSLAM Applications

  • 3D-mapping and Navigation
  • Inspection/Measurements
  • Station Keeping
  • Object Detection and Recognition
  • Mine Detection
  • Collision Avoidance
  • Real-Time 3D situation awareness for e.g. ROV-pilot
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Stereo Capabilities and Advantages

  • Real-Time Stereo Reconstruction
  • Real-Time 3D-Mapping
  • Real-Time Measurements
  • High Resolution and Full-Color Texture of 3D-Map
  • Simple Calibration before mission start
  • Auto-Calibration capability during mission
  • Low-Cost Hardware compared to e.g. LIDAR