Laser lightsheet triangulation is a well-established optical measurement method, which is frequently used in industrial applications. With some adaptions, the technique can also be used underwater. Placing a green laser line projector and a camera at a fixed base inside a watertight housing enables flexible and accurate underwater measurements at low cost. To achieve near-orthogonal intersections on the object surface, camera and laser need to be placed oblique to the housing interface. Refraction influences have to be considered strictly in geometric modelling, with the light propagating through the air–glass and glass–water interfaces. The measurement and calibration methods presented in the paper utilize a concept of splitting the lightsheet into multiple sub-beams, which are traced, refracted, and intersected with image observations to receive 3D measurements. In a calibration step, the relative orientation between camera, laser and interfaces is determined. In a theoretical accuracy analysis, the error influences caused by the calibrated parameters is estimated with a standard deviation of 0.2 to 0.4 mm in a depth range of up to 15 cm. A prototype triangulation sensor is applied for practical measurements of two test objects with known geometry. The predicted accuracy is validated in stationary single scan measurements. The sensor is furthermore moved along the test objects, using a six-degrees-of-freedom method to determine its exterior orientation. The combination of multiple single scans results in dense point clouds with 0.3 mm standard deviation compared to a reference.

Hydraulically induced scour of the streambed at the base of bridge piers is the leading cause of bridge failures. Despite the significant scientific efforts towards the solution of this challenging engineering problem, there are still no reliable tools for the prediction and mitigation of bridge scour. This shortcoming is attributed to the lack of understanding of the physics behind this phenomenon. The experimental studies that attempted the physical investigation of bridge scour in the past have faced two main limitations: i) The characterization of the dynamic interaction between the flow and the evolving bed that is known to drive scour, was not possible due to the limitations in the available instrumentation and the significant experimental difficulties; ii) Most of the existing literature studies are based on the findings of laboratory experiments whose scale is orders of magnitudes smaller compared to bridges in the field, while the scale effects on the scour depth have never been quantified. The objective of this research was to enhance the existing understanding of the phenomenon by tackling the aforementioned experimental challenges. To accomplish this, the first part of this work involved the development of a new underwater photogrammetric technique for the monitoring of evolving sediment beds. This technique is able to obtain very high resolution measurements of evolving beds, thus allowing the characterization of their dynamic properties (i.e. evolving topography and scour rates) and overcoming existing experimental limitations. Secondly, the underwater photogrammetric technique was applied on a bridge scour experiment, of simple geometry, and the dynamic morphological characteristics of the phenomenon were measured. The detailed measurements along with reasonable comparisons with descriptions of the flow, from past studies, were used to provide insight on the interaction between the flow and the bed and describe quantitatively the mechanisms of scour. Finally, the scale effects on scour were studied via the performance of two experiments under near-prototype conditions. In these experiments the effects of the Reynolds number on the flow and the scour were quantified and implications concerning existing small-scale studies were discussed. / Ph. D.