Mapping Submerged Archaeological Sites using Stereo-Vision Photogrammetry
Jon Henderson · Oscar R. Pizarro · Matthew Johnson-Roberson · Ian Mahon
TL;DR
A diver-propelled stereo camera system, using robotic mapping methods, produced 2D mosaics and 3D textured models of the submerged Bronze Age town of Pavlopetri.
BRIEF
Mapping underwater archaeological sites accurately is slow and costly, and it is hard to keep geometric errors small over a large area. This work describes a system that carries geo-referenced stereo cameras on a diver-propelled platform and applies mapping methods from robotics to the imagery. The result is high-resolution 2D photo-mosaics and detailed 3D textured models of submerged features. The system was field tested in 2010 at Pavlopetri, a submerged Bronze Age town off Laconia, Greece. The description covers the equipment, field data collection, image processing and visualization.
Abstract
Creating photo-mosaics and plans of submerged archaeological sites quickly, cost-effectively and, most importantly, to a high level of geometric accuracy remains a huge challenge in underwater archaeology. This paper describes a system that takes geo-referenced stereo imagery from a diver-propelled platform and combines it with mapping techniques widely used in the field of robotic science to create high-resolution 2D photo-mosaics and detailed 3D textured models of submerged archaeological features. The system was field tested on the submerged Bronze Age town of Pavlopetri off the coast of Laconia, Greece, in 2010. This paper outlines the equipment used, data collection in the field, image processing and visualization methodology.