Abstract: Method for determining a spatial property of a submerged object in a 3D-space, using an underwater moveable platform, that is provided with a camera and with a position and orientation measurement system configured to output a position and orientation of the camera. The method includes receiving user input for visually fitting a bounding volume to the object, and determining the spatial property of the object based on a corresponding spatial property of a bounding volume once the user is satisfied that the bounding volume sufficiently fits the object. The method provides an interactive manner of visually fitting the bounding volume to the object, based on images of the object taken at different positions and/or orientations of the camera relative to the object, as well as on a representation of a position and orientation of the camera in the 3D space at the time each image was captured.

Abstract: Method for determining a spatial property of a submerged object in a 3D-space, using an underwater moveable platform, that is provided with a camera and with a position and orientation measurement system configured to output a position and orientation of the camera. The method includes receiving user input for visually fitting a bounding volume to the object, and determining the spatial property of the object based on a corresponding spatial property of a bounding volume once the user is satisfied that the bounding volume sufficiently fits the object. The method provides an interactive manner of visually fitting the bounding volume to the object, based on images of the object taken at different positions and/or orientations of the camera relative to the object, as well as on a representation of a position and orientation of the camera in the 3D space at the time each image was captured.