1 research outputs found
Surface reconstruction of ancient water storage systems an approach for sparse 3D sonar scans and fused stereo images
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.peer-reviewe