3D Reconstruction of Underwater Natural Scenes and Objects Using Stereo Vision

3D Reconstruction of Underwater Natural Scenes and Objects Using Stereo Vision

C.J. Prabhakar (Kuvempu University, India), P.U. Praveen Kumar (Kuvempu University, India) and P.S. Hiremath (Gulbarga University, India)
DOI: 10.4018/978-1-4666-0113-0.ch005
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Abstract

Over the last two decades, research community of computer vision has developed various techniques suitable for underwater applications using intensity images. This chapter will explore 3D reconstruction of underwater natural scenes and objects based on stereo vision, which will be helpful in mine detection, inspection of shipwrecks, detection of telecommunication cables and pipelines. The general steps involved in 3D reconstruction using stereo vision are provided. The brief summary of papers for 3D reconstruction of underwater environment is presented. 3D reconstruction of underwater natural scenes and objects is challenging problem due to light propagation in underwater. In contrast to light propagation in the air, the light rays are attenuated and scattered, having a great effect on image quality. We have proposed preprocessing technique to enhance degraded underwater images. At the end of the chapter, we have presented the proposed stereo vision based 3D reconstruction technique to reconstruct 3D surface of underwater objects. Ultimately, this chapter intends to give an overview of the 3D reconstruction technique using stereo vision in order to help a reader in understanding stereo vision and its benefits for underwater applications.
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Stereo Vision Paradigm

Stereo vision refers to the ability to infer 3D information of a scene from two images taken from different viewpoints. The simplest demonstration of the essence of stereo vision is to hold an object in front of face and alternatively close the left and right eyes. Observe that the relative position of the object and background seems to change. It is exactly this difference in retinal position that is used by the brain to reconstruct a 3D scene. This is the essence of what we try to duplicate using stereo vision. The generalized stereo vision paradigm, illustrating the steps involved in the stereo vision is shown in Figure 1. These steps are described as follows:

Figure 1.

Generalized stereo vision paradigm

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