针对传统线结构光水下三维成像系统, 无法同时兼顾水下颜色定标、高度定标, 出现的目标色彩失真、三维高度采集精度低的问题, 设计了一套集颜色定标、高度定标于一体的高精度水下目标彩色三维数据采集系统。采用视场融合原理使RGB激光形成一束长线列光源, 实现目标彩色数据同步采集；颜色标定板、高度标定尺集成在定标模块, 并通过伸缩支柱相连, 可实现设备小型化；成像设备可在旋转电机控制下, 实现0°, 90°, 270°三个方向数据采集, 180°方向颜色、高度现场标定；具有实现容易、操作简单、同步定标、平台适应性强的优势, 这将对高颜色保真度、高测量精度水下目标三维立体探测的发展具有重要推动作用。

The traditional line structured light underwater three-dimensional (3D) imaging system cannot consider underwater color calibration and height calibration at the same time, so the color distortion and low precision are the big problems to underwater target. A high precision color 3D data acquisition system for underwater target is designed, which integrates color calibration and height calibration. Red green blue (RGB) laser form a long line light source to realize the synchronous acquisition of target color data by field of view (FOV) fusion. The color calibration board and the height calibrating ruler are integrated in the calibration module, and are connected through a tele- scopic prop to make the equipment miniaturized. Under the control of the rotating motor, the imaging equipment can achieve 0°, 90°, 270° direction data acquisition and 180° direction color and height calibration. The system has the advantages of easy implementation, simple operation, synchronous calibration and good platform adaptability, which play an important role in the development of high color fidelity and high precision underwater targets 3D stereo- scopic detection.