Smart solutions for underwater 3D exploration and SLAM – possibilities and limitations

Abstract. Monocular 3D exploration of underwater objects is a growing field of application due to powerful new developments of computer technology, hardware components, and algorithms such as AI-supported modules. Using appropriate software tools, video streams of simple cameras may produce complete 3D models. This technique makes it straightforward and convenient to collect image data and produce 3D models of certain objects. In this work we introduce several approaches for further simplification of underwater camera systems for production of 3D models of underwater structures. The principles of monocular 3D reconstruction using image sequences and those of multi-aperture camera technology are described and their use for underwater applications are discussed. The initial experimental results are presented, along with an outlook to approaches of small and lightweight powerful 3D reconstruction systems for (not exclusively) diver use.