Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a flat surface approximation and by interpolating the camera pose from dead-reckoning navigation. Yet, because of drift in the navigation and the mostly wrong flat surface assumption, the quality of the obtained photo-mosaics is often too low to support adequate analysis.In this paper we present an initial method for creating hyperspectral 3D reconstructions of underwater environments. By fusing the data gathered by a classical RGB camera, an inertial navigation system and a hyperspectral push-broom camera, we show that the proposed method creates highly accurate 3D reconstructions with hyperspectral textures. We propose to combine techniques from simultaneous localization and mapping, structure-from-motion and 3D reconstruction and advantageously use them to create 3D models with hyperspectral texture, allowing us to overcome the flat surface assumption and the classical limitation of dead-reckoning navigation.

本文介绍了一种利用RGB相机、惯性导航系统和高光谱推扫相机创建水下3D重建的初始方法，并结合同步定位与制图、运动结构和3D重建技术，优越地使用它们来创建具有高光谱纹理的3D模型，从而克服了平面表面假设和死推航行的经典限制。

水下环境的高光谱三维制图