OASIS实现实时水下三维重建，助力机器人精准操作。
OASIS: Real-Time Opti-Acoustic Sensing for Intervention Systems in Unstructured Environments
- 结合光学图像与体素雕刻技术，实现水下实时三维建模。
- 在短基线配置下，通过机械臂多视角采集提升重建精度。
- 适用于无人/有人水下作业，特别适合非结构化环境操作。
高分辨率水下三维场景重建对建筑、基础设施维护、监测、探索及科学调查等应用至关重要。以往研究利用成像声呐与光学相机的互补感知特性，实现了优于单一传感器方法的光声三维重建效果。然而，多数现有方法侧重离线重建，而实时空间感知对于自主与人工操控的水下车辆运行尤为关键。本文提出OASIS，一种融合光学图像与体素雕刻技术的光声融合方法，可在非结构化水下工作空间中实现实时三维重建。该方法采用“眼在手上”配置，借助机械臂的灵活性，在短基线条件下获取多个工作区视角。通过水池实验验证，结果展示了其在水下操作任务中的实用性，提供了定性与定量评估。
原文摘要 · Abstract (English)
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary sensing modalities of imaging sonars and optical cameras for opti-acoustic 3D scene reconstruction, demonstrating improved results over methods which rely solely on either sensor. However, while most existing approaches focus on offline reconstruction, real-time spatial awareness is essential for both autonomous and piloted underwater vehicle operations. This paper presents OASIS, an opti-acoustic fusion method that integrates data from optical images with voxel carving techniques to achieve real-time 3D reconstruction unstructured underwater workspaces. Our approach utilizes an "eye-in-hand" configuration, which leverages the dexterity of robotic manipulator arms to capture multiple workspace views across a short baseline. We validate OASIS through tank-based experiments and present qualitative and quantitative results that highlight its utility for underwater manipulation tasks.
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