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<front>
<journal-meta>
<journal-id journal-id-type="publisher">ISPRS-Archives</journal-id>
<journal-title-group>
<journal-title>The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences</journal-title>
<abbrev-journal-title abbrev-type="publisher">ISPRS-Archives</abbrev-journal-title>
<abbrev-journal-title abbrev-type="nlm-ta">Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.</abbrev-journal-title>
</journal-title-group>
<issn pub-type="epub">2194-9034</issn>
<publisher><publisher-name>Copernicus Publications</publisher-name>
<publisher-loc>Göttingen, Germany</publisher-loc>
</publisher>
</journal-meta>
<article-meta>
<article-id pub-id-type="doi">10.5194/isprs-archives-XLIX-B2-2026-971-2026</article-id>
<title-group>
<article-title>Explicit vs Implicit Modelling of Refraction in Underwater Structure-from-Motion – A practical Guide</article-title>
</title-group>
<contrib-group><contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Menna</surname>
<given-names>Fabio</given-names>
<ext-link>https://orcid.org/0000-0002-5365-8813</ext-link>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
<xref ref-type="aff" rid="aff2">
<sup>2</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Rofallski</surname>
<given-names>Robin</given-names>
</name>
<xref ref-type="aff" rid="aff3">
<sup>3</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Nocerino</surname>
<given-names>Erica</given-names>
<ext-link>https://orcid.org/0000-0003-3511-4967</ext-link>
</name>
<xref ref-type="aff" rid="aff4">
<sup>4</sup>
</xref>
</contrib>
</contrib-group><aff id="aff1">
<label>1</label>
<addr-line>Department of Chemical, Physical, Mathematical and Natural Sciences, University of Sassari, Italy</addr-line>
</aff>
<aff id="aff2">
<label>2</label>
<addr-line>Department of Science and Technology, University of Napoli Parthenope, Napoli, Italy</addr-line>
</aff>
<aff id="aff3">
<label>3</label>
<addr-line>Institute for Applied Photogrammetry and Geoinformatics, Jade University of Applied Sciences, Oldenburg, Germany</addr-line>
</aff>
<aff id="aff4">
<label>4</label>
<addr-line>Department of Humanities and Social Sciences, University of Sassari, Sassari, Italy</addr-line>
</aff>
<pub-date pub-type="epub">
<day>23</day>
<month>07</month>
<year>2026</year>
</pub-date>
<volume>XLIX-B2-2026</volume>
<fpage>971</fpage>
<lpage>978</lpage>
<permissions>
<copyright-statement>Copyright: &#x000a9; 2026 Fabio Menna et al.</copyright-statement>
<copyright-year>2026</copyright-year>
<license license-type="open-access">
<license-p>This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit <ext-link ext-link-type="uri"  xlink:href="https://creativecommons.org/licenses/by/4.0/">https://creativecommons.org/licenses/by/4.0/</ext-link></license-p>
</license>
</permissions>
<self-uri xlink:href="https://isprs-archives.copernicus.org/articles/XLIX-B2-2026/971/2026/isprs-archives-XLIX-B2-2026-971-2026.html">This article is available from https://isprs-archives.copernicus.org/articles/XLIX-B2-2026/971/2026/isprs-archives-XLIX-B2-2026-971-2026.html</self-uri>
<self-uri xlink:href="https://isprs-archives.copernicus.org/articles/XLIX-B2-2026/971/2026/isprs-archives-XLIX-B2-2026-971-2026.pdf">The full text article is available as a PDF file from https://isprs-archives.copernicus.org/articles/XLIX-B2-2026/971/2026/isprs-archives-XLIX-B2-2026-971-2026.pdf</self-uri>
<abstract>
<p>This study presents a critical investigation, based on computer simulations, of refractive Structure-from-Motion (SfM) methods for underwater photogrammetry. The goal is to provide practical guidelines on when explicit refractive modeling is necessary and when it can be safely neglected for a given application. Simulations are run within the POSER framework (&lt;code&gt;https://github.com/GEOSS-UNISS/POSER&lt;/code&gt;), which uses the physical based rendering engine of Blender to model the physical properties of water, including light refraction, scattering, and absorption phenomena. Simulated camera configurations range from a GoPro with a fisheye lens in a flat-port housing to a full-frame machine vision camera in a housing equipped with a dome port. Different offsets between the camera centre and the port geometry are also introduced to represent both standard and non-conventional housing setups, including misalignments. The study compares refractive and implicit (standard) modelling approaches, evaluating their respective advantages and limitations in terms of parameter estimability, the need for pre-calibration, and the availability of ground control points. Accuracy is assessed against ground-truth simulated data by analysing discrepancies in reconstructed 3D geometry and exterior orientation parameters.</p>
</abstract>
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