Surface Reconstruction of Ancient Water Storage Systems - An Approach for Sparse 3D Sonar Scans and Fused Stereo Images

Erik A. Nelson, Ian T. Dunn, Jeffrey Forrester, Timothy Gambin, Christopher M. Clark, Zoë Wood

2014

Abstract

This work presents a process pipeline that addresses the problem of reconstructing surfaces of underwater structures from stereo images and sonar scans collected with a micro-ROV on the islands of Malta and Gozo. Using a limited sensor load, sonar and small GoPro Hero2 cameras, the micro-ROV is able to explore water systems and gather data. As a preprocess to the reconstruction pipeline, a 3D evidence grid is created by mosaicing horizontal and vertical sonar scans. A volumetric representation is then constructed using a level set method. Fine-scale details from the scene are captured in stereo cameras, and are transformed into point clouds and projected into the volume. A raycasting technique is used to trim the volume in accordance with the projected point clouds, thus reintroducing fine details to the rough sonar-generated model. The resulting volume is surfaced, yielding a final mesh which can be viewed and interacted with for archaeological and educational purposes. Initial results from both steps of the reconstruction pipeline are presented and discussed.

Paper Citation

in Harvard Style

A. Nelson E., T. Dunn I., Forrester J., Gambin T., M. Clark C. and Wood Z. (2014). Surface Reconstruction of Ancient Water Storage Systems - An Approach for Sparse 3D Sonar Scans and Fused Stereo Images . In Proceedings of the 9th International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2014) ISBN 978-989-758-002-4, pages 161-168. DOI: 10.5220/0004694901610168

in Bibtex Style

@conference{grapp14,
author={Erik A. Nelson and Ian T. Dunn and Jeffrey Forrester and Timothy Gambin and Christopher M. Clark and Zoë Wood},
title={Surface Reconstruction of Ancient Water Storage Systems - An Approach for Sparse 3D Sonar Scans and Fused Stereo Images},
booktitle={Proceedings of the 9th International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2014)},
year={2014},
pages={161-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004694901610168},
isbn={978-989-758-002-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2014)
TI - Surface Reconstruction of Ancient Water Storage Systems - An Approach for Sparse 3D Sonar Scans and Fused Stereo Images
SN - 978-989-758-002-4
AU - A. Nelson E.
AU - T. Dunn I.
AU - Forrester J.
AU - Gambin T.
AU - M. Clark C.
AU - Wood Z.
PY - 2014
SP - 161
EP - 168
DO - 10.5220/0004694901610168