Surface integration for inspection tasks

In underwater environments it is often difficult to obtain a big/clear picture of a scene. For that reason, a system that can integrate small pieces of images (taken from close range) into a composite 3D surface, is developed here. The device, along with 3D position/orientation estimation equipment, can be used for inspection of hulls of ships anchored in a bay, or for examination of underwater pipes and tanks. Experimental results are presented which validate the algorithms developed