Hyperspectral 3D Mapping of Underwater Environments

Type Proceedings paper
Date 2021
Language English
Other localization https://iccv2021.thecvf.com/home
Author(s) Ferrera Maxime1, Arnaubec Aurelien1, Istenic Klemen2, Gracias Nuno2, Bajjouk Touria1
Affiliation(s) 1 : French Research Institute for Exploitation of the Sea (IFREMER), France
2 : Research Centre in Underwater Robotics (CIRS), University of Girona, Spain
Meeting ICCV 2021 - International Conference on Computer Vision. October 11 to October 17, Virtual
Source Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, 2021, pp. 3696-3705
DOI 10.1109/ICCVW54120.2021.00413

Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a flat surface approximation and by interpolat- ing the camera pose from dead-reckoning navigation. Yet, because of drift in the navigation and the mostly wrong flat surface assumption, the quality of the obtained photo- mosaics is often too low to support adequate analysis. In this paper we present an initial method for creating hyper- spectral 3D reconstructions of underwater environments. By fusing the data gathered by a classical RGB camera, an inertial navigation system and a hyperspectral push- broom camera, we show that the proposed method creates highly accurate 3D reconstructions with hyperspectral tex- tures. We propose to combine techniques from simultaneous localization and mapping, structure-from-motion and 3D reconstruction and advantageously use them to create 3D models with hyperspectral texture, allowing us to overcome the flat surface assumption and the classical limitation of dead-reckoning navigation.

Full Text
File Pages Size Access
Version open access 10 4 MB Open access
10 4 MB Access on demand
Top of the page

How to cite 

Ferrera Maxime, Arnaubec Aurelien, Istenic Klemen, Gracias Nuno, Bajjouk Touria (2021). Hyperspectral 3D Mapping of Underwater Environments. Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, 2021, pp. 3696-3705. https://archimer.ifremer.fr/doc/00728/83974/