海洋宏生物原位“观”和“测”对于海洋生态环境、海洋生物资源和海底矿产资源的研究和评估具有重要的意义。目前用于海洋宏生物原位观察的传统水下摄像机存在目标辐射特性、水体光散射、距离信息丢失等导致的低对比度目标探测难的问题。针对此，提出了水下激光雷达相机，可以兼顾并超越传统激光扫描雷达与摄像机复合的技术方案，利用单一系统同时获得百万像素高对比度的二维强度图像和高分辨率的三维图像，且二维图像中的像素和三维图像中的体素一一对应，并介绍了基于该技术研制的“凤眼”系统，其光立体采样区体积可调，距离分辨率优于1 cm，像素数为1360×1024。自2018年起，“凤眼”在我国南海海域进行了4个航次的海上试验，获取了海底宏生物及微地形地貌图像，最大工作深度达到3 291 m。

Marine macro life in-situ observation and measurement is of great significance to research and evaluate marine ecological environment, marine biological resources and seabed mineral resources. Traditional underwater cameras for in-situ observation of marine macro life have problems with low-contrast target (LOST) caused by target radiation characteristics, water light scattering, and loss of distance information in 2D images. Light ranging and imaging (LiRAI) technique was proposed, which could take into account and surpass the traditional lidar and camera composite technical solution, using a single system to simultaneously obtain high-contrast 2D intensity images and high-resolution 3D images with mega-pixels, and pixels in 2D images correspond to voxels in 3D images one by one. “Fengyan” systems were established based on LiRAI for marine macro life in-situ observation and measurement. The optical sampling volume was adjustable, the range resolution was better than 1 cm, and the number of pixels was 1 360×1 024. Since 2018, four voyages of sea trials had been conducted in the South China Sea, and images of marine life and sea floor had been obtained successfully, and the maximum working depth of “Fengyan” was 3 291 m.