This study provides a comprehensive review of the current state of the art in marine technology as it pertains to the 3D documentation of underwater archaeological and historical sites. A thorough literature analysis of recent research is presented, with a special emphasis on vision-based approaches for 3D reconstruction and mapping. First, the paper lists different robotic platforms, various underwater imaging systems and possible combinations among them, through their use in marine archaeological research. In addition to robotic vision systems configurations, a thorough survey on computer vision solutions on image processing, online and offline reconstructions, for both simulation environments and real-world UCH scenarios, is given. The final part of the paper reviews strategies for data acquisition optimization through path planning approaches and highlights how working on synthetic data and simulation environments can enhance the quality of real-world operations. Finally, weaknesses, open issues, and future directions of research in marine robotic vision systems within the documentation of UCH are discussed.

中文翻译：

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用于水下文化遗产 3D 记录的海洋机器人视觉传感：综述

这项研究对海洋技术的最新技术进行了全面回顾，因为它涉及水下考古和历史遗址的 3D 文档。对近期研究进行了全面的文献分析，特别强调了基于视觉的 3D 重建和绘图方法。首先，本文列出了不同的机器人平台、各种水下成像系统以及它们在海洋考古研究中的使用可能的组合。除了机器人视觉系统配置之外，还对模拟环境和现实水下文化遗产场景的图像处理、在线和离线重建的计算机视觉解决方案进行了全面调查。本文的最后部分回顾了通过路径规划方法进行数据采集优化的策略，并强调了如何利用合成数据和模拟环境来提高实际操作的质量。最后，讨论了水下文化遗产文献中海洋机器人视觉系统的弱点、未决问题和未来研究方向。