Lanty: A Deep Sea Stereo Vision System

摘要

This work introduces a comprehensive hardware and software solution for an underwater Stereo Vision System. Rigorous robustness and resistance studies were conducted using finite element analysis, accompanied by a meticulous selection of materials and design considerations. Multiple tests were executed to determine optimal camera configuration parameters, ensuring the acquisition of high-quality images and accurate 3D information. A Robot Operating System-based software for fish detection and classification was also integrated into the system, enabling the creation of 3D point clouds. The entire system was successfully tested in a real marine environment, and the results demonstrated the robustness of the hardware design and the potential of the software for fish biomass estimation applications. These findings confirm that the proposed solution is effective and can be practically applied in underwater environments.