SRSL: Monocular Self-Referenced Line Structured Light
In IROS 2015, (IROS), 28.9.-02.10.2015, Hamburg, IEEE, Sep/2015.
Sensing of environment geometry and texture is
a key requirement for mobile robotic systems. In the underwater
domain, difficult environmental conditions restrict
the applicability of many existing methods for 3D sensing.
A new method is proposed, which uses a visible laser line
projected onto a monocular camera image to perform 3D
scene reconstruction. The method fuses Structured Light with
Structure from Motion in an integrated process, which allows
for the capturing of dense 3D point clouds on moving systems
in situations with low texture and minimal scene structure. The
system is evaluated in three experiment scenarios and provides
an average translation error of 2% in the KITTI Benchmark
for monocular visual odometry and an average model error of
1:7mm when compared with a tabletop structured light system.