Hyperspectral 3D Mapping of Underwater Environments

• URL: http://arxiv.org/abs/2110.06571v1
• Date: Wed, 13 Oct 2021 08:37:22 GMT
• Title: Hyperspectral 3D Mapping of Underwater Environments
• Authors: Maxime Ferrera, Aur\'elien Arnaubec, Klemen Istenic, Nuno Gracias, Touria Bajjouk (IFREMER)
• Abstract summary: We present an initial method for creating hyperspectral 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 textures.
• Score: 0.7087237546722617
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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 interpolating 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 hyperspectral 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 textures. 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.

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