3-D imaging apparatus and method for dynamically and finely detecting small underwater objects

A three-dimensional imaging apparatus for dynamically and finely detecting an underwater small object, including a platform 3, where a laser emitting module and underwater cameras 1 are fixedly mounted on the platform, and the underwater cameras 1 are connected to a processing unit 5. The apparatus preferably being located on the underside of an underwater robot 8. The laser emitting module may be an array or a single line laser. There are preferably two cameras located on either side of the laser emitting unit. The three-dimensional imaging preferably comprises applying a difference colour to a range in the image.