While capturing 3D geometry with a standard digital camera is challenging and takes advanced technology, capturing 3D geometry underwater can be even more difficult. Difficult because of the optical changes and physical demand to operate in subsurface environment while trying to take photos. Over the past few months I have been involved in some of these projects that made use of not only photogrammetry but recently underwater Lidar (yes underwater laser, not mounted on a shark) and handheld sonar generating...

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