Visual sensing on marine robotics for the 3D documentation of Underwater Cultural Heritage: A review

This study provides a comprehensive review of the current state of the art in marine technology as it pertains to the 3D documentation of underwater archaeological and historical sites. A thorough literature analysis of recent research is presented, with a special emphasis on vision-based approaches for 3D reconstruction and mapping. First, the paper lists different robotic platforms, various underwater imaging systems and possible combinations among them, through their use in marine archaeological research. In addition to robotic vision systems configurations, a thorough survey on computer vision solutions on image processing, online and offline reconstructions, for both simulation environments and real-world UCH scenarios, is given. The final part of the paper reviews strategies for data acquisition optimization through path planning approaches and highlights how working on synthetic data and simulation environments can enhance the quality of real-world operations. Finally, weaknesses, open issues, and future directions of research in marine robotic vision systems within the documentation of UCH are discussed.