Roberto Ricci

Underwater three-dimensional imaging with an amplitude-modulated laser radar at a 405 nm wavelength

We report the results of underwater imaging with an amplitude-modulated single-mode laser beam and miniaturized piezoactuator-based scanning system. The basic elements of the device are a diode laser source at 405 nm with digital amplitude modulation and a microscanning system realized with a small-aperture aspheric lens mounted on a pair of piezoelectric translators driven by sawtooth waveforms. The system has been designed to be a low-weight and rugged imaging device suitable to operate at medium range (approximately 10 m) in clear seawater as also demonstrated by computer simulation of layout performance. In the controlled laboratory conditions a submillimeter range accuracy has been obtained at a laser amplitude modulation frequency of 36.7 MHz.

Remote Colorimetric and Structural Diagnosis by RGB-ITR Color Laser Scanner Prototype

Since several years ENEAs Artificial Vision laboratory is involved in electrooptics systems development. In the last period the efforts are concentrated on cultural heritage remote diagnosis, trying to develop instruments suitable for multiple purposes concerning restoration, cataloguing, and education. Since last five years a new 3D (three-dimensional) laser scanner prototype (RGB-ITR) based on three amplitude-modulated monochromatic laser sources mixed together by dichroic filters is under development. Five pieces of information per each sampled point (pixel) are collected by three avalanche photodiodes and dedicated electronics: two distances and three target reflectivity signals for each channel, red, green, and blue. The combination of these pieces of information opens new scenarios for remote colorimetry allowing diagnoses without the use of scaffolds. Results concerning the use of RGB-ITR as colorimeter are presented.

Techniques for effective optical noise rejection in amplitude-modulated laser optical radars for underwater three-dimensional imaging

Amplitude-modulated (AM) laser imaging is a promising technology for the production of accurate three-dimensional (3D) images of submerged scenes. The main challenge is that radiation scattered off water gives rise to a disturbing signal (optical noise) that degrades more and more the quality of 3D images for increasing turbidity. In this paper, we summarize a series of theoretical findings, that provide valuable hints for the development of experimental methods enabling a partial rejection of optical noise in underwater imaging systems. In order to assess the effectiveness of these methods, which range from modulation/demodulation to polarimetry, we carried out a series of experiments by using the laboratory prototype of an AM 3D imager ( = 405 nm) for marine archaeology surveys, in course of realization at the ENEA Artificial Vision Laboratory (Frascati, Rome). The obtained results confirm the validity of the proposed methods for optical noise rejection.

Experimental evidence of signal-optical noise interferencelike effect in underwater amplitude-modulated laser optical radar systems.

We report experimental evidence that in an amplitude-modulated laser optical radar system for underwater 3D imaging the observed contrast oscillations as a function of the modulation frequency originate from an interference-like effect between target signal VT and water backscattered radiation VW. The demonstration relies on the ability to perform a direct measurement of VW in a 25 m long test tank. The proposed data processing method enables one to remove the contribution of water backscattering from the detected signal and drastically reduce signal fluctuations due to the medium. Experiments also confirm the possibility to improve the signal to optical noise ratio and contrast by increasing the modulation frequency.

Amplitude-modulated laser range-finder for 3D imaging with multi- sensor data integration capabilities

A high performance Amplitude Modulated Laser Rangefinder (AM-LR) is presented, aimed at accurately reconstructing 3D digital models of real targets, either single objects or complex scenes. The scanning system enables to sweep the sounding beam either linearly across the object or circularly around it, by placing the object on a controlled rotating platform. Both phase shift and amplitude of the modulating wave of back-scattered light are collected and processed, resulting respectively in an accurate range image and a shade-free, high resolution, photographic-like intensity image. The best performances obtained in terms of range resolution are ~100 μm. Resolution itself can be made to depend mainly on the laser modulation frequency, provided that the power of the backscattered light reaching the detector is at least a few nW. 3D models are reconstructed from sampled points by using specifically developed software tools, optimized so as to take advantage of the system peculiarities. Special procedures have also been implemented to perform precise matching of data acquired independently with different sensors (LIF laser sensors, thermographic cameras, etc.) onto the 3D models generated using the AM-LR. The system has been used to scan different types of real surfaces (stone, wood, alloys, bones) and ca be applied in various fields, ranging from industrial machining to medical diagnostics, vision in hostile environments cultural heritage conservation and restoration. The relevance of this technology in cultural heritage applications is discussed in special detail, by providing results obtained in different campaigns with an emphasis on the systems multi-sensor data integration capabilities.

Polarimetry as tool to improve phase measurement in an amplitude modulated laser for submarine archaeological sites inspection

The propagation of polarized laser beams in turbid water is a subject of relevant interest in the field of underwater quantitative visualization with active sensors like amplitude modulated laser systems. In such devices, target range determination is based on the measurement of the phase difference ΔΦ between the fraction of the amplitude modulated laser beam reflected by the target and a reference signal. As water turbidity increases, the laser radiation backscattered from the water column shined by the sounding laser beam gives rise to an optical background with detrimental effects on the accuracy of range measurement. In this paper we analyze the possibility to increase the apparatus accuracy with a polarimetric technique based on the adoption of polarized laser radiation and polarization selective detection scheme for improving the underwater imaging of real scenes (e.g. archaeological sites). The method fully takes advantages of the different polarization properties of the laser radiation backscattered by turbid water and of the Lambertian component diffusively reflected by the target as described by the associated Mueller matrices. Measurements have been performed by adopting both a co-polarized and cross-polarized detection scheme with linearly and circularly polarized laser radiation. Various degrees of turbidity were realized by adding, as diffusive element, skim milk to water in order to obtain different scattering conditions. The effect of the transition from Rayleigh to Mie scattering regime on phase accuracy determination has been investigated together with the role played by high order scatterings as the medium approaches the optical thickness condition.

Improvement in underwater phase measurement of an amplitude-modulated laser beam by polarimetric techniques

The phase of the amplitude-modulated radiation reflected by a Lambertian target immersed in water was measured by using a linearly and circularly polarized sounding laser beam. Different values of the water extinction coefficient in the range of 0.06 - 2 m(-1) were realized by adding skim milk as a scattering element. It is shown that very efficient rejection of optical noise, resulting in reliable phase measurements, is accomplished with a cross-polarized and copolarized detection scheme for linear and circular polarization, respectively. The experiment demonstrates that phase measurements are very sensitive to optical noise suppression and that, as far as single scattering is the main involved mechanism, significant improvements can be achieved by adopting a polarization control on both the transmitter and the receiver stages of the apparatus.

High-resolution laser radar for 3D imaging in artwork cataloging, reproduction, and restoration

A high resolution Amplitude Modulated Laser Radar (AM-LR) sensor has recently been developed, aimed at accurately reconstructing 3D digital models of real targets, either single objects or complex scenes. The sensor sounding beam can be swept linearly across the object or circularly around it, by placing the object on a controlled rotating platform, enabling to obtain respectively linear and cylindrical range maps. Both amplitude and phase shift of the modulating wave of back-scattered light are collected and processed, providing respectively a shade-free, high resolution, photographic-like picture and accurate range data in the form of a range image. The resolution of range measurements depends mainly on the laser modulation frequency, provided that the power of the backscattered light reaching the detector is at least a few nW (current best performances are ~100 µm). The complete object surface can be reconstructed from the sampled points by using specifically developed software tools. The system has been successfully applied to scan different types of real surfaces (stone, wood, alloys, bones), with relevant applications in different fields, ranging from industrial machining to medical diagnostics, to vision in hostile environments. Examples of artwork reconstructed models (pottery, marble statues) are presented and the relevance of this technology for reverse engineering applied to cultural heritage conservation and restoration are discussed. Final 3D models can be passed to numeric control machines for rapid-prototyping, exported in standard formats for CAD/CAM purposes and made available on the Internet by adopting a virtual museum paradigm, thus possibly enabling specialists to perform remote inspections on high resolution digital reproductions of hardly accessible masterpieces.

Polarimetry as a valid means to reduce optical noise in underwater 3D imaging by means of amplitude-modulated laser optical radar systems

We report the results of a series of underwater imaging experiments in the visible, carried out at ENEA (Frascati, Rome) by using a bistatic, amplitude-modulated laser optical radar system. In these experiments, polarimetry is used for minimizing the water backscattering signal and improving the accuracy of phase measurements directly related to distance. The presented technique enables one to obtain 3D images of underwater real scenes characterized by high quality, space resolution, and contrast. The results are of remarkable importance for applications in the 3D imaging of submerged objects, such as submarine archaeological sites.

Color (RGB) imaging laser radar

We present a new color (RGB) imaging 3D laser scanner prototype recently developed in ENEA (Italy). The sensor is based on AM range finding technique and uses three distinct beams (650nm, 532nm and 450nm respectively) in monostatic configuration. During a scan the laser beams are simultaneously swept over the target, yielding range and three separated channels (R, G and B) of reflectance information for each sampled point. This information, organized in range and reflectance images, is then elaborated to produce very high definition color pictures and faithful, natively colored 3D models. Notable characteristics of the system are the absence of shadows in the acquired reflectance images - due to the systems monostatic setup and intrinsic self-illumination capability - and high noise rejection, achieved by using a narrow field of view and interferential filters. The system is also very accurate in range determination (accuracy better than 10-4) at distances up to several meters. These unprecedented features make the system particularly suited to applications in the domain of cultural heritage preservation, where it could be used by conservators for examining in detail the status of degradation of frescoed walls, monuments and paintings, even at several meters of distance and in hardly accessible locations. After providing some theoretical background, we describe the general architecture and operation modes of the color 3D laser scanner, by reporting and discussing first experimental results and comparing high-definition color images produced by the instrument with photographs of the same subjects taken with a Nikon D70 digital camera.