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The underwater 3D data acquisition can be realized in the range of field of view of 50\u00b0 (vertical) \u00d7 360\u00b0 (horizontal). We compensate the refraction of the 3D reconstruction system to reduce the angle error caused by the refraction of light on different media surfaces and reduce the impact of refraction on the image quality. In order to verify the reconstruction effect of the 3D reconstruction system and the effectiveness of the refraction compensation algorithm, we conducted error experiments on a standard sphere. The results show that the system\u2019s underwater reconstruction error is less than 0.6 mm within the working distance of 140 mm~2500 mm, which meets the design requirements. It can provide reference for the development of low-cost underwater 3D laser scanning system.<\/jats:p>","DOI":"10.3390\/s21041402","type":"journal-article","created":{"date-parts":[[2021,2,17]],"date-time":"2021-02-17T21:35:42Z","timestamp":1613597742000},"page":"1402","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Underwater High-Precision 3D Reconstruction System Based on Rotating Scanning"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5695-619X","authenticated-orcid":false,"given":"Qingsheng","family":"Xue","sequence":"first","affiliation":[{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, Shandong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qian","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, Shandong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6820-9818","authenticated-orcid":false,"given":"Fupeng","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, Shandong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haoxuan","family":"Bai","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, Shandong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bai","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, Shandong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8567-4044","authenticated-orcid":false,"given":"Qian","family":"Li","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, Shandong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,2,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"382","DOI":"10.1109\/TIP.2006.888337","article-title":"Multiresolution 3-D reconstruction from side-scan sonar images","volume":"16","author":"Coiras","year":"2007","journal-title":"IEEE Trans. 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