Making a photogrammetry model based on images captured under water varies from above water on several areas. Considering this being a full-worthy study on its own, we will not aim to go into details here. We will rather provide you with some examples including a brief description of what has been done and what could have been improvedthe project.

M/S Herkules

The M/S Herkules sank outside Nyhavna in Trondheim September 16th 1957. More information about the wreck can be found at Dykkepedia on M/S Herkules.

Underwater vehicle used: Minerva ROV NTNU

Model: The final photogrammery model of Herkules is found at Stein Nornes' Youtube-page.

Related articles:

• Underwater Photogrammetric Mapping of an Intact Standing Steel Wreck with ROV  BibTeX Referencingreference@article{NORNES2015206, title = "Underwater Photogrammetric Stein M. Nornes, Martin Ludvigsen, Øyvind Ødegard, and Asgeir J. Sørensen. Underwater Pho-togrammetric Mapping of an Intact Standing Steel Wreck with ROV", journal = ". IFAC-PapersOnLine", volume = "48", number = "2", pages = "206 - 211", year = "2015", note = "4th IFAC Workshop onNavigation, Guidance and Controlof Underwater VehiclesNGCUV 2015", issn = "2405-8963", doi = "48(2):206 – 211, 2015. ISSN 2405-8963. doi: https://doi.org/10.1016/j.ifacol.2015.06.034", url = ". URL http://www.sciencedirect.com/science/article/pii/S2405896315002736", author = "Stein M. Nornes and Martin Ludvigsen and Øyvind Ødegard and Asgeir J. SØrensen", keywords = "Unmanned Underwater Vehicles (UUV), Marine archaeology, Mapping, UUV vision systems, Photogrammetry", abstract = "This paper presents the results of an underwater photogrammetric survey of an intact standing steel wreck with high vertical profiles from the seabed at 60 meters depth. The survey was conducted in Trondheim Harbour in August 2014 using a Remotely Operated Vehicle (ROV) equipped with a stereo camera rig. The paper demonstrates how the emergence of commercially available photogrammetric software has reduced the required resources for creating high-resolution 3D-models of archaeological sites from photographs. At the same time, the resources and ROV-pilot skills required for the survey itself still represent an obstacle for the end users. The results and experiences of this survey are therefore used as the basis for a discussion on the possible benefits, challenges and strategies for conducting such a survey autonomously." }

• . 4th IFACWorkshop on Navigation, Guidance and Control of Underwater Vehicles NGCUV 2015

Comment: This is a well executed model. Compare it to the student project model discussed in the section about Short Sunderland EJ138 to get an idea of how the model may have been if no image post-processing had been applied.

Short Sunderland Mk. V EJ138 WH-Y

The Sunderland EJ138 was as a result of a mooring accident sunk just west of Munkholmen, Trondheim in 1945. More information about the wreck can be found at Dykkepedia on Short Sunderland EJ138.

Student Project TMR4120

Underwater vehicle used: ROV 30K NTNU

Model: The model can be seen in the GIF to the right.

Related articles: No articles were published from this project.

Comment: When making this model, no additional post-processing of the images were made before inserting them into Agisoft Metashape. As a result, the model is covered by a strong green shade. This is clearly seen when comparing to the model from Blueye displaying the same aircraft.

Blueye Robotics

Underwater vehicle used: Blueye Pioneer

Model: 

• Youtube videos: Exploring the wreck of Short Sunderland & Six Underwater Drones exploring Seaplane Wreck & Diving inside Short Sunderland flight wreck
• Sketchfab models: Tail of Short Sunderland & Short Sunderland

Related articles: No relevant articles are found for these models.

Comments: A benefit of using the relatively small ROV Blueye Pioneer is it's possibility to get close to the wreck surfaces, limiting the issues relevant when capturing images under water.