Abstract: An optical guide assembly for obtaining images of one or more exposed surfaces of an article that are at least partially immersed in a fluid. The optical guide assembly includes one or more sources of light, a camera, and an optical guide made of an optical medium. The light from the light source is reflected from the exposed surface to provide an initial light transmitted into the optical guide in a direction substantially orthogonal to a first surface thereof. The initial light is transmitted from the first surface through the optical medium to a second surface of the optical guide having a mirror thereon, to be reflected therefrom to provide a reflected light. The reflected light reflected from the second surface passes through a third surface of the optical guide substantially orthogonally thereto to the camera.

Abstract: A method of calibrating a trigonometric-based ranging system in first and second transmissive media including, in each of the first and second media, determining a sensor matrix for a sensor of the system therein. Rotation and translation of a sensor axis of the sensor is measured relative to an ideal sensor axis, by determining the rotation and translation of a sensor co-ordinate system of the sensor in each of the first and second media concurrently, to provide a rotation/translation matrix for a field of view of the sensor in each of the first and second media. Rotation of a device axis of a structured signal-emitting device relative to an ideal device axis is measured by determining a relative change in the structured signal in the first medium and in the second medium, to generate a device rotation matrix to be applied to the structured signal.

Abstract: A method of calibrating a trigonometric-based ranging system in first and second transmissive media including, in each of the first and second media, determining a sensor matrix for a sensor of the system therein. Rotation and translation of a sensor axis of the sensor is measured relative to an ideal sensor axis, by determining the rotation and translation of a sensor co-ordinate system of the sensor in each of the first and second media concurrently, to provide a rotation/translation matrix for a field of view of the sensor in each of the first and second media. Rotation of a device axis of a structured signal-emitting device relative to an ideal device axis is measured by determining a relative change in the structured signal in the first medium and in the second medium, to generate a device rotation matrix to be applied to the structured signal.

Abstract: A laser scanner assembly for obtaining data to generate one or more three-dimensional clouds of data describing one or more submerged surfaces. The laser scanner assembly includes a housing subassembly with one or more body elements defining one or more cavities therein and comprising at least one window element therein at least partially defining the cavity, a light-generating subassembly positioned in the cavity having a laser source for generating laser light and a means for configuring the laser light into a fan configuration, and one or more optical sensors positioned in the cavity. The laser scanner assembly also includes means for moving the light-generating subassembly relative to the submerged surface, for illuminating illuminated points respectively, and means for determining the data for locating each illuminated point respectively utilizable for generating the three-dimensional cloud of data by using a baseline distance and first and second angles for each illuminated point respectively.