An Action-Camera Based Stereo System for MicroROV for Monitoring Coralline Algae in the Mediterranean Sea: Preliminary Assessment

Underwater monitoring and surveying are fundamental activities spanning various fields, each contributing significantly to managing marine environments. These activities are crucial in marine ecology, providing essential conservation, management, and research data. The importance of underwater monitoring extends to several key areas, including marine ecology, environmental science, archaeology, and resource management. In marine ecology, monitoring activities are crucial for conserving biodiversity, assessing habitat health, understanding the impacts of climate change, and mitigating human impacts. Stereo-vision systems can be decisive for several underwater activities, such as monitoring, research, and exploration. Commercial stereo-vision systems often involve high costs and complex setups, which limit their accessibility. The proposed approach leverages the affordability of action cameras to create an accessible and effective solution. Indeed, this paper presents the design, implementation, and preliminary testing of a low-cost stereo-vision system utilizing two GoPro 11 for underwater applications on a micro ROV. The design process involved synchronizing two action cameras and developing a mounting rig to ensure a stable relative position between the cameras. The stereo system is calibrated in-air and underwater to test different calibration strategies. The obtained performances will guide practical considerations on using the low-cost, off-the-shelf stereo system based on action cameras for monitoring challenging underwater environments.