A photogrammetric approach to survey floating and semi-submerged objects

The article presents an innovative methodology for the 3D surveying and modeling of floating and semi-submerged objects. Photogrammetry is used for surveying both the underwater and emerged parts of the object and the two surveys are combined together by means of special rigid orientation devices. The proposed methodology is firstly applied to a small pleasure boats (approximately 6 meters long) - hence a free floating case - and then to a large shipwreck (almost 300 meters long) interested by a 52 m long leak at the waterline. The article covers the entire workflow, starting from the camera calibration and data acquisition down to the assessment of the achieved accuracy, the realization of the digital 3D model by means of dense image matching procedures as well as deformation analyses and comparison with the craft original plane.

[1]  T. J. Mitchell,et al.  Utilizing Vessel Based Mobile Laser and Bathymetry Survey Techniques for Survey of Four Southern California Breakwaters , 2011 .

[2]  Rongxin Li,et al.  Quantitative photogrammetric analysis of digital underwater video imagery , 1997 .

[3]  Horst A. Beyer,et al.  System Calibration Through Self-Calibration , 2001 .

[4]  D. Gennery,et al.  Calibration and Orientation of Cameras in Computer Vision , 2001 .

[5]  P. Drap,et al.  PHOTOGRAMMETRY FOR VIRTUAL EXPLORATION OF UNDERWATER ARCHEOLOGICAL SITES , 2007 .

[6]  S. Troisi,et al.  LOW COST REVERSE ENGINEERING TECHNIQUES FOR 3 D MODELLING OF PROPELLERS , 2010 .

[7]  Rory Quinn,et al.  Using Multibeam Echo‐Sounder Data to Identify Shipwreck Sites: archaeological assessment of the Joint Irish Bathymetric Survey data , 2011 .

[8]  Jani Pötrönen.  High resolution multibeam survey and mobile laser scanning - comprehensive information for coastal infrastructure management and planning , 2012 .

[9]  Jim H. Chandler,et al.  Geometric consistency and stability of consumer‐grade digital cameras for accurate spatial measurement , 2007 .

[10]  Sagi Filin,et al.  Photogrammetric modeling of underwater environments , 2010 .

[11]  Pierre Drap,et al.  Underwater Photogrammetry for Archaeology , 2012 .

[12]  Fabio Menna,et al.  Hybrid survey method for 3D digital recording and documentation of maritime heritage , 2014 .

[13]  Dimitrios Skarlatos,et al.  An ‘Open’ Method for 3D Modelling and Mapping in Underwater Archaeological Sites , 2012 .

[14]  Euan S. Harvey,et al.  Calibration stability of an underwater stereo-video system : Implications for measurement accuracy and precision , 1998 .

[15]  M. Canciani,et al.  LOW COST DIGITAL PHOTOGRAMMETRY FOR UNDERWATER ARCHAEOLOGICAL SITE SURVEY AND ARTIFACT ISERTION. THE CASE STUDY OF THE DOLIA WRECK IN SECCHE DELLA MELORIA-LIVORNO-ITALIA. , 2004 .

[16]  Ian Oxley,et al.  Geophysical techniques for maritime archaeological surveys , 2003 .

[17]  S. I. Granshaw,et al.  BUNDLE ADJUSTMENT METHODS IN ENGINEERING PHOTOGRAMMETRY , 2006 .

[18]  Stuart Robson,et al.  The accuracy and precision of underwater measurements of length and maximum body depth of southern bluefin tuna (Thunnus maccoyii) with a stereo-video camera system , 2003 .

[19]  Chris Roman,et al.  Application of structured light imaging for high resolution mapping of underwater archaeological sites , 2010, OCEANS'10 IEEE SYDNEY.

[20]  Roland Bless,et al.  Network Design , 2011, 4WARD Project.

[21]  J. Gallagher,et al.  Refractive index of water and steam as function of wavelength, temperature and density , 1990 .