Three Dimensional Measurement of Shark Body Based on Monocular and Binocular Vision

To provide precise configuration reference for the engineering bionics, high accuracy detection in large field of view on the natural biological body is a prerequisite. Targeting the streamline body of carcharhinus brachyurous, 3D (three dimensional) measurement was carried out with monocular and binocular vision inspecting system based on sinusoidal structure light. By means of moving the vision sensor driven by a stepper motor, fringe patterns with variable fringe spacing were projected to every parts of the shark body, then the point clouds of different parts of the whole shark body were obtained. Using the quaternion method to joint the edges of these point clouds together, surface reconstruction was conducted. Finally the digital model of the low resistance body of shark was achieved. It would be useful reference for the configuration design of underwater vehicles, especially microminiature biomimetic underwater vehicles.