Depth estimation of an underwater object using a single camera

Underwater robotics is currently a growing field. To be able to autonomously find and collect objects on the land and in the air is a complicated problem, which is only compounded within the underwater setting. Different techniques have been developed over the years to attempt to solve this problem, many of which involve the use of expensive sensors. This paper explores a method to find the depth of an object within the underwater setting, using a single camera source and a known object. Once this known object has been found, information about other unknown objects surrounding this point can be determined, and therefore the objects can be collected.