Optimized Laser Triangulator for Underwater Robot Vision

The underwater world holds plenty of undiscovered secrets, not yet fathomed due to the hostile conditions in the ocean depths. One of the problems that can be encountered in such an environment is limited or lack of visibility. Average cameras, even when equipped with additional lighting systems, do not allow for data collection from a greater distance. However, a different kind of imaging can be used. Based on the laser triangulation approach, a three-dimensional model of the surroundings can be created and subsequently analysed. There are numerous devices that use this method and similar technologies such as light detection and ranging, but they are characterised by high complexity and therefore price. In this paper, the design of a device intended to be mounted on AUVs and ROVs is presented. The operation principles for the device are simplified, allowing for relatively cheap creation, yet holding the required features. This research is complemented with tests in above- and underwater environments, measuring the surrounding elements’ dimensions as well as distances to them.