Underwater reconstruction using depth sensors
Paper in proceedings, 2014

In this paper we describe experiments in which we acquire range images of underwater surfaces with four types of depth sensors and attempt to reconstruct underwater surfaces. Two conditions are tested: acquiring range images by submersing the sensors and by holding the sensors over the water line and recording through water. We found out that only the Kinect sensor is able to acquire depth images of submersed surfaces by holding the sensor above water. We compare the reconstructed underwater geometry with meshes obtained when the surfaces were not submersed. These findings show that 3D underwater reconstruction using depth sensors is possible, despite the high water absorption of the near infrared spectrum in which these sensors operate.

Infrared proximity array

Range image


Depth sensor


3D Reconstruction



Alexandru Dancu

Chalmers, Applied Information Technology (Chalmers), Interaction Design (Chalmers)

Mickaël Fourgeaud

Chalmers, Applied Information Technology (Chalmers)

Z. Franjcic

Qualisys AB

R. Avetisyan

University of Rostock

SIGGRAPH Asia 2014 Technical Briefs, SIGGRAPH ASIA 2014; Shenzhen; China; 3 December 2014 through 6 December 2014

Art. no. a2-

Subject Categories

Computer Engineering



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