A Surface Reconstruction Method for In-Detail Underwater 3D Optical Mapping Ricard Campos, Rafael Garcia, Pierre Alliez, Mariette Yvinec To cite this version: Ricard Campos, Rafael Garcia, Pierre Alliez, Mariette Yvinec. A Surface Reconstruction Method for In-Detail Underwater 3D Optical Mapping. The International Journal of Robotics Research, SAGE Publications, 2015, 34 (1), pp.25. 10.1177/0278364914544531. hal-01030845 HAL Id: hal-01030845 https://hal.inria.fr/hal-01030845 Submitted on 22 Jul 2014 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. A Surface Reconstruction Method for In-Detail Underwater 3D Optical Mapping Ricard Campos, Rafael Garcia Pierre Alliez Computer Vision and Robotics Group Titane University of Girona, Spain INRIA Sophia Antipolis - M´editerran´ee, France
[email protected],
[email protected] [email protected] Mariette Yvinec Geometrica INRIA Sophia Antipolis - M´editerran´ee, France
[email protected] Abstract Underwater range scanning techniques are starting to gain interest in underwater exploration, provid- ing new tools to represent the seafloor. These scans (often) acquired by underwater robots usually result in an unstructured point cloud, but given the common downward-looking or forward-looking configura- tion of these sensors with respect to the scene, the problem of recovering a piecewise linear approximation representing the scene is normally solved by approximating these 3D points using a heightmap (2.5D).