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Sensors 2016, 16(5), 712;

Tools to Perform Local Dense 3D Reconstruction of Shallow Water Seabed

1,2,†,* , 2,†
Laboratoire LTCI, CNRS, Télécom ParisTech, Université Paris-Saclay, 46 rue Barrault, 75013 Paris, France
ESIEA, 9 rue Vésale, 75005 Paris, France
EPF, 21 Boulevard Berthelot, 34000 Montpellier, France
This paper is an extended version of our paper published in OCOSS. Avanthey, L.; Gademer, A.; Beaudoin, L.; Roux, M. First steps for operational dense and high-resolution mapping of shallow water using dedicated robots. In Proceedings of the Conference on Ocean & Coastal Observation: Sensors and Observing Systems, Numerical Models & Information Systems, Nice, France, 28–31 October 2013.
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Academic Editor: Assefa M. Melesse
Received: 22 December 2015 / Revised: 14 April 2016 / Accepted: 25 April 2016 / Published: 17 May 2016
(This article belongs to the Section Remote Sensors)


Tasks such as distinguishing or identifying individual objects of interest require the production of dense local clouds at the scale of these individual objects of interest. Due to the physical and dynamic properties of an underwater environment, the usual dense matching algorithms must be rethought in order to be adaptive. These properties also imply that the scene must be observed at close range. Classic robotized acquisition systems are oversized for local studies in shallow water while the systematic acquisition of data is not guaranteed with divers. We address these two major issues through a multidisciplinary approach. To efficiently acquire on-demand stereoscopic pairs using simple logistics in small areas of shallow water, we devised an agile light-weight dedicated system which is easy to reproduce. To densely match two views in a reliable way, we devised a reconstruction algorithm that automatically accounts for the dynamics, variability and light absorption of the underwater environment. Field experiments in the Mediterranean Sea were used to assess the results. View Full-Text
Keywords: underwater 3D reconstruction; dense point clouds; low cost underwater micro-robot; stereoscopic rig underwater 3D reconstruction; dense point clouds; low cost underwater micro-robot; stereoscopic rig

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Avanthey, L.; Beaudoin, L.; Gademer, A.; Roux, M. Tools to Perform Local Dense 3D Reconstruction of Shallow Water Seabed. Sensors 2016, 16, 712.

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