SRSL: Monocular Self-Referenced Line Structured Light
series DFKI Documents, volume 15-03, pages 13, Sep/2015. DFKI GmbH.
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.