Correction model of linear structured light sensor in underwater environment

Underwater 3D reconstruction using linear structured light sensor is crucial for many applications. This paper presents a correction model of a linear structured light sensor and a calibration method for such a model. The model takes into account the distortion introduced to the system by the flat sealed glass and the water medium. This model takes the linear structured light sensor as a whole to analyze the influence of underwater multi-medium refraction on it, instead of considering the influence of underwater refraction on camera imaging alone. The correction model can be modeled knowing the thickness of the flat window, the refractive index of the air, the refractive index of the flat widow, the refractive index of the water, the coordinates of the camera pinhole center, and the distance between the sensor coordinate system and the flat glass interface. The present study reports results obtained using the real sensor in a water tank to reconstruct objects to assess the sensor's accuracy.