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High resolution underwater robotic vision based mapping and three dimensional reconstruction for archaeology

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Figure

Figure 1.The stereo-vision diver-rig and list of components.
Table I.Summary of the diver-rig components.
Table II.Summary of the Iver2 components.
Figure 3.A diagram depicting the two-level clustering process used in image correct, first a division by imaging altitude and thena division by estimated bottom type using a VDP clustering algorithm (Steinberg et al., 2011, 2013)
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