Imaging and measurement system

An apparatus for presenting a highly spatially accurate visualization of a scene from which measurements can be taken, the apparatus comprising:

• at least one camera for recording a plurality of frames of video images of the scene;
• at least one sensor mounted in relation to the camera for recording sensor data on positional characteristics of the camera as the at least one camera is moved with respect to the scene;
• and
• image processing means including a first module for synchronizing the frames with the sensor data to form corrected frames, and a second module for constructing an accurate mosaic from the corrected frames.

A method for presenting a highly spatially accurate visualization of a scene from which measurements can be taken, the method comprising:

• (a) recording a plurality of frames of video images of the scene from a camera;
• (b) recording sensor data on positional characteristics of the camera as the camera is moved with respect to the scene;
• (c) synchronizing the frames with the sensor data to form corrected frames;
• and
• (d) constructing an accurate mosaic from the corrected frames.

A method of performing a survey in a fluid, the method comprising:

• (a) mounting a camera and a plurality of sensors on a platform capable of movement in the fluid;
• (b) moving the platform through the fluid while recording visual images on the camera and recording sensor data relating to the attitude and distance of the platform from objects of interest within the fluid;
• (c) synchronizing the visual images to the sensor data to provide corrected visual images relating to a fixed distance and attitude;
• and
• (d) video mosaicing the images to form an accurate video mosaic as a visual image of the scene surveyed.