Mapping Submerged Archaeological Sites using Stereo-Vision Photogrammetry

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.