Using a Time of Flight method for underwater 3-dimensional depth measurements and point cloud imaging

Underwater depth measurements and point cloud images can be used for robotic navigation and haptic feedback. Structured Light and Time of Flight (ToF) depth camera systems were tested to demonstrate depth measurements and point cloud imaging underwater. A commercial ToF depth camera was modified to include a movable external light source. Images from depth measurements and constructed point cloud images from underwater tests are shown. A comparison of depth images captured while objects were positioned ~0.10-1.80 m from the camera is presented. Calibration of ToF cameras augmented with movable external light sources for underwater use is discussed.