This research project is part of the Future Ocean Exellence Cluster. The objective of the cluster is to gain knowledge about a whole range of topics concerning the so far largely unknown deep ocean. Amongst other things it provides the necessary equipment for exploring great water depths, for example the ROV Kiel 6000 (Remotely Operated Vehicle) that can reach water depths of 6000 m.

Equipped with several cameras, one of them being a HDTV camera, it is used to examine black smokers, a type of hydrothermal vent, found for example at the bottom of the Atlantic Ocean (Wikipedia link). Because of limited diving time during which scientists need to complete a variety of examinations, the task of computer vision is to compute 3D reconstructions of the black smokers. In order to examine and measure the vents after the dive, a 3D model including the absolute scale needs to be determined. The 3D reconstructions are computed with a state-of-the-art structure from motion approach, that will be adapted to the special conditions of the underwater environment. Investigating and implementing these adaptations is the major task of this research project.

Special characteristics of the underwater imaging environment in general and the black smokers specifically, that need to be considered include:

• optical path/refraction depends on salinity, depth, temperature, etc., so camera self-calibration on site is required,
• scattering and absorption of light pose both, challenges and problems, and
• floating particles, moving animals and smoke violate the rigid scene constraint.

First results (from left to right: camera path and 3D points, partial wire frame, partial textured 3D model):