Laser scanning 3D imaging technology, because it can get accurate three-dimensional surface data, has been widely used in the search for wrecks and rescue operations, underwater resource development, and other fields. At present, the conventional underwater rotating laser scanning imaging system maintains a relatively fixed light window. However, in low-light situations underwater, the rotation of the scanning device causes some degree of water fluctuation, which warps the light strip data that the system sensor receives about the object's surface. To solve the problem, this research studies an underwater 3D scanning and imaging system that makes use of a fixed-light window and a spinning laser (FWLS). A refraction error compensation algorithm is investigated that is based on the fundamentals of linear laser scanning imaging and the dynamic refraction mathematical model is established by the motion of the imaging device. During the imaging process, the incident angle between the laser and the light window varies due to the scanning mode of the system. The experimental results show that the reconstruction radius error is reduced by 60% (from 2.5 mm to about 1 mm) when the measurement data for a standard sphere with a radius of 20 mm are compensated. Moreover, the compensated point cloud data exhibits a higher degree of correspondence with the model of the standard spherical point cloud. This study has a specific reference value for the refractive error analysis of an underwater laser scanning imaging system, and it provides certain research ideas for the subsequent refractive error analysis of various scanning imaging modalities.

There have been many researches on the surface acoustic wave (SAW) sensors for detecting sulfur-containing toxic or harmful gases. This paper aims to give an overview of the current state of the polymer films used in SAW sensors for detecting deleterious gases. By covering most of the important polymer materials, the structures and types of polymers are summarized, and a variety of devices with different frequency, such as delay lines and array sensors for detecting mustard gas, hydrogen sulfide and sulfur dioxide are introduced. The preparation method of polymer films, the sensitivity of the SAW gas sensor, the limit of detection, the influence of temperature and humidity, and the anti-interference ability are discussed in detail. The advantages and disadvantages of the films are also analyzed, and the potential application of polymer films in the future is also forecasted.