3D Reconstruction of Reefs using Autonomous Surface Vessels and an Analysis of Chain vs. 3D Rugosity Measurement Robustness

Derek Benham, Aaron Newman, Kalai Ellis, Richard Gill, Joshua G Mangelson

Abstract: Abstract—Coral reefs are at risk. To study and minimize the impacts of global warming, pollution, or land sediment disposition on the reef, regular and accurate measurements are needed to assess the coral’s health. We present a method of using surface vessels to autonomously collect GPS tagged images to be used in creating a 3D model of the reef which we tested in Molokai, Hawaii. We also discuss the shortcomings of chain rugosity measurements (the longtime standard for categorizing reef health) and how surface complexity measurements, a metric only obtained from creating 3D models from imagery are less subject to these flaws.