A practical underwater 3D-Laserscanner

A number of attempts have been made to use the benefits of 3D-Laserscanning techniques in the underwater environment. Unfortunately, due to a number of operative problems with such devices, their accuracy and therefore applicability remains quite low. This paper specifically focuses on these practical issues by expanding on previous works in this area and improving their usability. The result is a calibration procedure for triangulation-based 3D-laserscanners for the underwater environment which provides a very promising precision and reliability, but at the same time does not demand exaggerated deployment overhead.